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
  • B60W30/18—Propelling the vehicle
  • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
• • 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
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T7/00—Brake-action initiating means
  • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
  • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/17—Using electrical or electronic regulation means to control braking
  • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
  • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
• • 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
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/02—Active or adaptive cruise control system; Distance control
  • B60T2201/022—Collision avoidance systems
• • 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
  • B60W2554/404—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
  • B60W2554/80—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
  • 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
  • B60W2754/00—Output or target parameters relating to objects
  • B60W2754/10—Spatial relation or speed relative to objects
• • 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 an apparatus for controlling the behavior of a saddle-riding vehicle, and a method for controlling the behavior of a saddle-riding vehicle.
• Conventional saddle-ride vehicle behavior control devices obtain information on the positional relationship between the running saddle-ride vehicle and a target, and adjust the traveling speed of the saddle-ride vehicle based on that positional relationship information.
• a positional relationship adjustment operation is performed in which the positional relationship between the saddle-riding vehicle and the target is adjusted by automatically changing the positional relationship (for example, see Patent Document 1).
• Patent Document 1 International Publication No. 2018/172870
• Saddle-type vehicles have extremely small bodies compared to other vehicles (for example, passenger cars, trucks, etc.). Therefore, situations in which multiple saddle-riding vehicles run side by side in a special positional relationship (for example, situations in which multiple saddle-riding vehicles run parallel to each other in one driving lane, multiple saddle-riding vehicles running in one driving lane, (e.g., a situation in which multiple saddle-ride vehicles are traveling in a convoy) may occur.
• Conventional saddle-ride vehicle behavior control devices may have difficulty executing appropriate positional relationship adjustment operations in such situations.
• the present invention has been made against the background of the above-mentioned problems, and aims to provide a control device capable of improving rider support. Additionally, a control method that can improve rider support is obtained.
• a control device is a behavior control device of a saddle-ride type vehicle, and includes an acquisition unit that acquires positional relationship information between the saddle-ride type vehicle and a target while the saddle-ride type vehicle is running; a positional relationship adjustment operation that automatically changes the traveling speed of the saddle-type vehicle based on the position-related information acquired by the acquisition unit to adjust the positional relationship between the saddle-type vehicle and the target; an execution unit that executes a first operation mode in which the positional relationship between the saddle riding type vehicle and the target is in a first state in the positional relationship adjustment operation; a second operating mode in which the positional relationship between the saddle-ride vehicle and the target is in a second state different from the first state; and the saddle-ride vehicle is in a group with at least one other saddle-ride vehicle. The mode is switched depending on whether the group driving mode, which is the driving mode, is enabled or not.
• the control method according to the present invention is a method for controlling the behavior of a saddle-ride type vehicle, in which an acquisition unit of a control device acquires positional relationship information between the saddle-type vehicle while it is traveling and a target.
• the execution unit In the positional relationship adjustment operation, the straddle-type vehicle and the target a first operation mode in which the positional relationship between the saddle type vehicle and the target is in a first state; and a second operation mode in which the positional relationship between the saddle type vehicle and the target is in a second state different from the first state. , a group driving mode in which the saddle type vehicle travels in a group together with at least one other saddle type vehicle; Switch depending on whether or not it is valid.
• a first operation mode in which the positional relationship between the saddle type vehicle and the target is in a first state
• a second operating mode in which the positional relationship with the target is in a second state different from the first state
• a group driving mode in which the saddle-type vehicle travels in a group together with at least one other saddle-type vehicle. It switches depending on whether or not it is valid. Therefore, in situations where multiple saddle-riding vehicles are running side by side in a special positional relationship, it is possible to perform an appropriate positional relationship adjustment operation, and it is possible to improve 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 saddle-ride type vehicle.
• FIG. 2 A diagram showing a system configuration of a rider support system according to an embodiment of the present invention.
• FIG. 3 is a diagram for explaining the configuration of a rider support system according to an embodiment of the present invention.
• FIG. 4 is a diagram for explaining the configuration of a rider support system according to an embodiment of the present invention.
• Fig. 5 is a diagram for explaining the configuration of a rider support system according to an embodiment of the present invention.
• FIG. 6 is a diagram for explaining the configuration of a rider support system according to an embodiment of the present invention.
• FIG. 7 is a diagram for explaining the configuration of a rider support system according to an embodiment of the present invention.
• FIG. 8 is a diagram for explaining the operation flow of the control device of the rider support system according to the embodiment of the present invention.
• a saddle-riding vehicle is a vehicle in which a rider rides astride the vehicle.
• saddle-riding vehicles include motorcycles (motorcycles, tricycles), bicycles, and the like.
• motorcycles include vehicles that use an engine as a power source, vehicles that use an electric motor as a power source, etc.
• motorcycles include, for example, motorcycles, scooters, electric scooters, and the like.
• Bicycle means a vehicle that can be propelled on a road by the rider's pedal effort applied to the pedals. Bicycles include regular bicycles, electric assist bicycles, electric bicycles, etc.
• Embodiment may be provided on a helmet, gloves, etc.).
• the control device 20 includes at least an acquisition unit 21, an execution unit 22, and the like. All or each part of the control device 20 may be provided in one housing, or may be provided separately in a plurality of housings. In addition, all or each part of the control device 20 may be composed of a microcomputer, a microprocessor unit, etc., or may be composed of something that can be updated such as firmware, and may be composed of an updatable device such as firmware. It may also be a program module or the like executed by a command.
• the acquisition unit 2 1 acquires surrounding environment information of the saddle-ride type vehicle 1 0 0 based on the output of the surrounding environment sensor 1 1 while the saddle-ride type vehicle 1 ⁇ ⁇ is traveling.
• the surrounding environment information includes positional relationship information between saddle-riding vehicle 1 0 0 and vehicles traveling around saddle-riding vehicle 1 ⁇ ⁇ .
• the positional relationship information is, for example, information such as relative position, relative distance, relative velocity, relative acceleration, relative jerk, passing time difference, and predicted time until collision.
• the positional relationship information may be information on other physical quantities that can be substantially converted thereto.
• the execution unit 22 adjusts the saddle-ride type vehicle 1 based on the positional relationship information acquired by the acquisition unit 21.
• the target is determined from among the vehicles traveling around. If the validated positional relationship adjustment operation is intended to assist the rider in driving in response to an event that occurs in front of the saddle-riding vehicle 100, the execution unit 22 performs the following actions: The target vehicle is determined to be a vehicle that is running ahead of the vehicle. If the activated positional relationship adjustment operation is intended to assist the rider in driving in response to an event occurring behind the saddle-riding vehicle 1 ⁇ ⁇ , the execution unit 2 2 performs the following actions: The vehicle that follows the target is determined as the target.
• the execution unit 2 2 automatically determines the traveling speed of the saddle type vehicle 1 ⁇ ⁇ based on the positional relationship information between the saddle type vehicle 1 0 0 and the target acquired by the acquisition unit 2 1. to execute a positional relationship adjustment operation that adjusts the positional relationship between the saddle-riding vehicle 1 0 0 and the target.
• the positional relationship adjustment operation is an operation that adjusts the positional relationship in the longitudinal direction of the driving lane.
• the execution unit 22 outputs a command to the braking device 30 or the drive device 40 to automatically change the running speed of the saddle-ride type vehicle 100 when executing the positional relationship adjustment operation.
• the braking device 30 brakes the saddle type vehicle 100.
• the drive device 4 ⁇ serves as a power source for the saddle type vehicle 1 ⁇ and drives the saddle type vehicle 1 ⁇ ⁇ .
• the braking device 3 ⁇ may be controlled to cause or increase the deceleration of the saddle-type vehicle 1 ⁇ , and also to cause or increase the acceleration of the saddle-type vehicle 100. May be controlled.
• the drive device 40 may be controlled to cause or increase the acceleration of the saddle-ride vehicle 100, and also to cause or increase the deceleration of the saddle-ride vehicle 100. May be controlled.
• the positional relationship adjustment operation automatically causes deceleration or acceleration in the saddle-riding vehicle 1 ⁇ ⁇ without requiring the rider to operate the braking device 3 ⁇ and the drive device 4 ⁇ .
• Actions that adjust the positional relationship between a ride-on vehicle and a target e.g., an adaptive cruise control operation that uses the target as a speed tracking target, a saddle-ride vehicle that uses the target as a target for speed tracking, and a saddle-ride vehicle that avoids or mitigates a collision with the target).
• Action to decelerate or accelerate ⁇ action to operate braking device 30 in order to control the positional relationship with the target according to the amount of operation while the rider is operating drive device 4 ⁇ , an operation of operating the drive device 40 in order to control the positional relationship with the target according to the amount of operation while the rider is operating the braking device 30, etc.), and
• the braking force generated on the saddle-riding vehicle 1 0 0 is automatically increased or decreased, and the braking force generated in the saddle-riding vehicle 1 0 0 is adjusted between the saddle-riding vehicle 1 0 0 and the target.
• a saddle-riding vehicle It may be an operation to adjust the positional relationship, and it may also be an operation to automatically increase or decrease the driving force generated in the saddle-riding vehicle 1 ⁇ in order to correct excessive or insufficient operation of the drive device 40 by the rider.
• a saddle-riding vehicle It may also be an action to adjust the positional relationship between i ⁇ ⁇ and the target.
• the execution unit 22 causes the notification device 50 to perform an notification operation for the rider as necessary.
• the notification device 50 may notify the rider by means of a display (i.e., a perception in which the visual organ is used as a sensory organ) or by a sound (i.e., a perception in which the auditory organ is used as a sensory organ). It may be something that notifies the rider, or it may be something that notifies the rider through vibration (that is, a sensation in which a tactile device is used as a sensory device).
• the notification device 50 is a display, a lamp, a speaker, a vibrator, etc.
• the notification device 50 may be provided on the saddle type vehicle 100, or may be provided on equipment (for example, a helmet, gloves, etc.) that is attached to the saddle type vehicle 100. .
• the execution unit 2 2 performs the saddle riding type operation as shown in Fig. 3.
• a vehicle that runs ahead of vehicle 100 or a vehicle that runs following saddle-type vehicle 100 is determined as target 200.
• the execution unit 22 stores a state quantity set S1 that is a combination of a plurality of state quantities P that define the positional relationship between the saddle type vehicle 100 and the target 200, as shown in Fig. 4.
• FIG. 4 shows a case where the state quantity P is a transit time difference, the state quantity P may be other state quantities such as a relative distance or a predicted time until a collision occurs.
• the rider of the saddle type vehicle 1 0 0 uses the setting input device 1 3 to adjust the positional relationship between the saddle type vehicle 1 0 0 and the target 2 0 0 so that they tend to approach each other or to tend to move away from each other. You can set whether to In other words, the rider of the saddle-riding vehicle 100 can select from among a plurality of steps how much to adjust the positional relationship between the saddle-riding vehicle 100 and the target 200. Note that although Figure 4 shows a case where the rider of saddle-ride type vehicle 1 ⁇ ⁇ makes a selection from among the five stages L v 1 to L v 5, the number of stages may be different.
• the acquisition unit 21 acquires information on the settings as setting input information based on the output of the setting input device 13.
• the execution unit 22 selects the state quantity p corresponding to the setting input information (that is, the information on L v) from the state quantity set S1, and determines whether the state quantity P is achieved.
• the traveling speed of saddle-riding vehicle 1 ⁇ ⁇ is controlled so that the positional relationship between saddle-riding vehicle 1 0 0 and target 2 0 0 is adjusted.
• the execution unit 2 2 controls the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed occurring in the saddle type vehicle 1 ⁇ ⁇ so that it does not exceed a limit value when executing the positional relationship adjustment operation. do.
• the limit value may be the same, or may be different.
• the execution unit 2 2 may control the running speed so that it does not exceed a limit value only when the first derivative and/or second derivative of the traveling speed occurring in the saddle type vehicle 1 ⁇ ⁇ is a positive value, and , saddle type vehicle 1 ⁇ ⁇ may be controlled so as not to exceed the limit value only when the first derivative and/or second derivative of the traveling speed that occurs in ⁇ ⁇ is a negative value, or in both cases. There may be. Furthermore, when outputting a command to the braking device 30 to execute the positional relationship adjustment operation, the execution unit 22 controls the braking force distribution to the front and rear wheels of the saddle-ride type vehicle 100 to a predetermined ratio. do.
• the execution unit 22 determines whether or not the group driving mode is valid. .
• the group driving mode the saddle-type vehicle 100 travels in a group, that is, together with at least one other saddle-type vehicle 300. mode.
• 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.
• Execution part 2 2 is , Based on the switching information, it is determined whether the group driving mode is valid.
• the execution unit 22 determines the saddle type vehicle 100 and other saddle type vehicles 3 located around the saddle type vehicle 100 based on the surrounding environment information acquired by the acquisition unit 21. 0 0 and in a unique manner (for example, as shown in Figure 5, two vehicle convoys are arranged in a zigzag pattern, with a saddle-riding vehicle 1 ⁇ ⁇ and a plurality of other saddle-riding vehicles 3 ⁇ ⁇ and ) As shown in FIG.
• the execution unit 22 identifies other saddle-riding vehicles 300 located within the travel lane DL in which saddle-riding vehicle 1 ⁇ ⁇ is traveling, and executes the identified other saddle-riding vehicles 3 0 0. Also, without using the information on the boundaries of the driving lane DL, if the vehicle continues to be located around the saddle-ride type vehicle 100 for more than the reference time or the reference travel distance, Other saddle-riding type vehicles 300 may be identified, and the identified other saddle-riding type vehicles 300 may be subjected to the determination.
• the group riding mode is enabled and disabled by setting input by the rider.
• the acquisition unit 21 acquires configuration information based on the output of the configuration input device 13 as configuration input information.
• the execution unit 22 determines whether the group driving mode is valid based on the setting input information. Note that the execution unit 22 automatically proposes enabling and/or disabling the group driving mode based on the surrounding environment information acquired by the acquisition unit 21, and requires the rider to input settings for consent. The proposal may be finalized by
• the execution unit 2 2 executes a positional relationship adjustment operation in a state in which the group driving mode is determined to be valid, which is different from a normal state, that is, a state in which the group driving mode is determined to be not valid. do.
• the positional relationship adjustment operation is an operation that adjusts the positional relationship in the longitudinal direction of the driving lane D L.
• the activated positional relationship adjustment operation is intended to support driving by the rider in response to an event occurring in front or to the side of the saddle-riding vehicle 100, and the execution unit 22 When adjusting the positional relationship with respect to another saddle-riding vehicle 3 0 0 that is running ahead of 1 ⁇ ⁇ , or to another saddle-riding vehicle 3 0 0 that is running parallel to saddle-riding vehicle 1 0 0.
• the execution unit 22 uses a similar method to adjust the positional relationship between the saddle and the saddle. Adjust the positional relationship with other saddle-riding vehicles 3 0 0 that follow riding-type vehicles 1 ⁇ ⁇ .
• the execution unit 2 2 selects the saddle-ride type vehicle 1 ⁇ from among the vehicles located around the saddle-ride type vehicle 1 0 0 based on the surrounding environment information acquired by the acquisition unit 2 1. Identify 300 other saddle-ride vehicles that are traveling in a group with ⁇ . Whether or not another saddle-riding vehicle 3 0 The determination may be made based on the positional information of saddle-riding vehicle 1 0 0, the identification information of other saddle-riding vehicles 3 0 0 belonging to the group, etc.), and the positional relationship with respect to saddle-riding vehicle 1 0 0. The determination may be made based on information on the passage of time.
• the execution unit 2 2 executes the saddle riding type vehicle 1 in the group. Belongs to the first vehicle convoy L 1 to which 0 belongs, and runs in front of the saddle-type vehicle 1 0 closest to 0. 3 0 0 of other saddle-riding vehicles that are in the same position as the target 2 0 0 (denoted as 2 0 0 A in the figure). Also, for example, execution unit 2 2 belongs to the second vehicle train L 2 to which saddle-ride vehicle 1 0 0 in the group does not belong, and runs in front of the saddle-ride vehicle 1 ⁇ ⁇ closest to it.
• the other straddle-type vehicle 300 that is running or running in parallel is determined as the target 200 (denoted as 200B in the diagram).
• the execution unit 22 uses information registered in advance by the rider (for example, positional information of the saddle-riding vehicle 100 within a group) or information regarding a plurality of other saddle-riding vehicles 300. By identifying which vehicle convoy, left or right, saddle-ride vehicle 100 belongs to within driving lane DL, based on information on the positional relationship over time, that is, by using group convoy information. Then, it is possible to identify the other saddle-type vehicles 300 belonging to the first vehicle convoy L1 and the other saddle-type vehicles 300 belonging to the second vehicle convoy L2.
• an enabled positional relationship adjustment operation may be performed between a saddle-type vehicle 1 0 0 and a plurality of other saddle-type vehicles traveling in a group with the saddle-type vehicle 1 0 0 .
• the determination of target 2 ⁇ ⁇ in the case where the positional relationship between vehicle 3 0 0 and driving lane DL in the longitudinal direction is to be adjusted will be explained.
• the execution unit 2 2 selects the saddle-ride type vehicle 1 ⁇ from among the vehicles located around the saddle-ride type vehicle 1 0 0 based on the surrounding environment information acquired by the acquisition unit 2 1 . Identify 300 other saddle-ride vehicles that are traveling in a group with ⁇ . Whether or not another saddle-riding vehicle 3 0 0 is a vehicle traveling in a group with saddle-riding vehicle 1 0 0 can be determined based on information registered in advance by the rider (for example, information registered in the group).
• the determination may be made based on the positional information of saddle-riding vehicle 1 0 0, the identification information of other saddle-riding vehicles 3 0 0 belonging to the group, etc.), and the positional relationship with respect to saddle-riding vehicle 1 0 0.
• the determination may be made based on information on the passage of time.
• the execution unit 2 2 executes the saddle-ride type vehicle 1 in the group.
• 0 belongs to the first vehicle convoy L 1
• the other saddle-riding vehicles 3 0 0 that are running closest to the saddle-riding vehicle 1 0 0 and the saddle-riding vehicles in the group
• Vehicle 1 ⁇ ⁇ belongs to the second train line L 2, to which vehicle 1 ⁇ ⁇ does not belong
• another saddle-riding type vehicle is running in front of or in parallel with saddle-riding type vehicle 1 ⁇ ⁇ closest to 3 0 0 and one virtual vehicle 3 0 0 1 is determined as the target 2 0 0 (denoted as 2 0 0 C in the figure).
• the execution unit 22 receives information registered in advance by the rider (for example, information on the traveling position of the saddle-riding vehicle 100 within the group), or information registered in advance by the rider, or information about the traveling position of the saddle-riding vehicle 30 in a group. Based on the information of the positional relationship with respect to 0 over time, it is possible to identify whether the saddle-riding vehicle 1 0 0 belongs to the left or right vehicle convoy within the driving lane D L, that is, to determine the group convoy information. By using , it is possible to identify other saddle-type vehicles 300 belonging to the first vehicle convoy L1 and other saddle-type vehicles 300 belonging to the second vehicle convoy L2.
• Virtual vehicle 3 0 ⁇ I belongs to the first vehicle convoy L 1 to which saddle-riding type vehicle 1 ⁇ ⁇ in the group belongs, and first, it runs closest to saddle-riding type vehicle 1 ⁇ ⁇ in front. This is a vehicle that is assumed to be traveling at a position shifted by a distance d 1 in the longitudinal direction of the driving lane D L from another saddle-type vehicle 3 0 0 (denoted as 2 0 0 A in the figure).
• the virtual vehicle 3 0 0 I may be shifted so as to approach the saddle-riding vehicle 1 0 0 (that is, so that the distance d 1 becomes a positive value), and may also be shifted closer to the saddle-riding vehicle 1 0 0 It may be shifted away from the object (that is, the distance d 1 becomes a negative value).
• Distance d 1 is the distance between saddle-riding vehicle 1 0 0 and second vehicle convoy L 2 to which saddle-riding vehicle 1 0 0 in the group does not belong, and is the closest to saddle-riding vehicle 1 ⁇ ⁇ .
• the relationship between the distance d 1 and the distance d 2 may not change, or it may change depending on the running condition of the saddle-riding vehicle 1 ⁇ ⁇ . It may also be something that changes depending on the setting input by the rider of model vehicle 1 ⁇ ⁇ .
• the virtual vehicle 300I may symbolize three or more other saddle-riding vehicles 300.
• the execution unit 2 2 determines the saddle type vehicle 1 based on the positional relationship information between the saddle type vehicle 1 ⁇ ⁇ and the target 2 0 0 acquired by the acquisition unit 2 1.
• the running speed of ⁇ ⁇ is automatically changed to execute a positional relationship adjustment operation that adjusts the positional relationship between the saddle type vehicle 100 and the target 200.
• the execution unit 2 2 creates a saddle-ride type vehicle 1 0 0 and a target 2 as shown in FIG. 7, which is similar to the state variable set S 1 shown in FIG. 4. It stores a state quantity set S 2 that is a combination of multiple state quantities P that define the positional relationship with 0 0 .
• the execution unit 22 selects the state quantity p corresponding to the setting input information by the rider (that is, the information on L v) from the state quantity set S2, and determines whether the state quantity P is achieved.
• the traveling speed of saddle-riding vehicle 1 ⁇ ⁇ is controlled so that the positional relationship between saddle-riding vehicle 1 0 0 and target 2 0 0 is adjusted.
• the state quantity set S 2 adjusts the positional relationship between the saddle-riding vehicle 1 0 0 and the target 2 0 0 so that they tend to approach each other. It is a combination of state quantities P.
• the state quantity set S 1 is used to set the saddle type vehicle 1 0 0 and the target.
• the state quantity set S2 is used to adjust the positional relationship between the saddle-riding vehicle 100 and the target 200 such that the passing time difference is It is controlled to a state in which it becomes smaller, that is, a state in which it tends to approach (corresponding to the "second state” of the present invention).
• the execution unit 2 2 selects L that is the same as L v that corresponds to the state quantity P that was selected in the state quantity set S 1.
• the state quantity P corresponding to v is automatically selected from the state quantity set S2.
• the execution unit 22 sets the state quantity P closest to the state quantity P selected in the state quantity set s1 as the state quantity set S. Automatically select from 2.
• the execution unit 2 2 selects a specific L v (for example, the smallest The state quantity P corresponding to the state quantity set S2 is automatically selected from the state quantity set S2.
• the execution unit 22 determines that the group running mode is enabled regardless of the state quantity P selected in the state quantity set s1.
• the state quantity P that was selected in the previous positional relationship adjustment operation executed at that time is automatically selected from the state quantity set S2.
• the execution unit 2 2 selects the initial value set in advance by the rider, regardless of the state quantity P selected in the state quantity set s1.
• the state quantity P corresponding to L v is automatically selected from the state quantity set S 2.
• the execution unit 2 2 selects L that is the same as L v that corresponds to the state quantity P that was selected in the state quantity set S 2.
• the state quantity P corresponding to v is automatically selected from the state quantity set S1.
• the execution unit 2 2 sets the state quantity p closest to the state quantity p selected in the state quantity set S 2 to the state quantity set s. Automatically select from 1.
• the execution unit 22 executes a specific L v (for example, the smallest The state quantity P corresponding to the state quantity set S1 is automatically selected from the state quantity set S1.
• the execution unit 22 determines that the group driving mode is invalid regardless of the state quantity P selected in the state quantity set S2.
• the state quantity P that was selected in the previous positional relationship adjustment operation executed at the time is automatically selected from the state quantity set S1.
• execution unit 2 2 is in group running mode When switching from valid to invalid, regardless of the state quantity P selected in the state quantity set S 2, the state quantity P corresponding to L v set in advance as the initial value by the rider is set as the state quantity set. Automatically select from S 1.
• the state quantity P is small for all L v, but the state quantity P is the same for some L v, The state quantity P may be small only at other L v. Further, the state quantity P may be other state quantities such as a relative distance or a predicted time until a collision occurs. Further, the magnitude relationship between the state quantity set S 1 and the state quantity set S 2 may be reversed.
• the state quantity set S 1 is used, and the saddle-ride type vehicle 1 0
• the positional relationship between 0 and the target 2 0 0 is controlled to a state where the difference in passing time is small, that is, a state where they tend to approach (corresponding to the "second state” of the present invention), and the group driving mode is effective.
• the state quantity set S2 is used to adjust the position of the saddle-type vehicle 100 and the target 200. The relationship may be controlled to a state in which the transit time difference becomes large, that is, a state in which they tend to separate (corresponding to the "first state” of the present invention).
• the execution unit 22 uses the state quantity set S 1 shown in FIG. 4 regardless of whether the group running mode is enabled or not.
• the execution unit 22 selects the state quantity P corresponding to the rider's setting input information (that is, L v information) from the state quantity set s1.
• Select a state quantity P that is different from the state quantity P control the traveling speed of saddle-ride vehicle 1 ⁇ ⁇ so that the state quantity P is achieved, and calculate the positional relationship between saddle-ride vehicle 1 0 0 and target 2 0 0. Adjust.
• the setting input information by the rider is input from the state quantity set s1.
• the state quantity set s 1 A state quantity P that is different from the state quantity P corresponding to the setting input information by the rider (that is, L v information) is selected from It is controlled to a state in which the values become smaller and in which they tend to approach each other (corresponding to the "second state” of the present invention).
• the setting input information by the rider that is, the L v The state quantity P corresponding to the information
• the positional relationship between the saddle-riding vehicle 100 and the target 200 is changed to a state in which the difference in passing time becomes small, that is, a state in which they tend to approach each other (in the present invention).
• the rider's control is performed from the state quantity set s1.
• a state quantity P that is different from the state quantity P corresponding to the setting input information (that is, L v information) is selected, and the positional relationship between the saddle-riding vehicle 1 0 0 and the target 2 0 0 is such that the difference in passing time becomes large. , that is, it may be controlled to a state in which there is a tendency to separate (corresponding to the "first state" of the present invention).
• the execution unit 2 2 calculates L v corresponding to the state quantity P that was selected when the group running mode was disabled.
• the state quantity P corresponding to L v that differs by a predetermined stage is automatically selected from the state quantity set S 1.
• the execution unit 22 executes a specific L v (for example, the smallest L v, the largest L v, the middle L v, etc.) is automatically calculated from the state quantity set S 1. Select with .
• the execution unit 22 executes the following command when the group running mode is enabled, regardless of the state quantity P that was selected when the group running mode was disabled
• the state quantity P that was selected in the previous positional relationship adjustment operation that was executed is automatically selected from the state quantity set S1.
• the execution unit 2 2 sets the initial value set in advance by the rider, regardless of the state quantity P that was selected when the group riding mode was disabled.
• the state quantity P corresponding to L v is automatically selected from the state quantity set S 1.
• the execution unit 2 2 calculates L v corresponding to the state quantity P that was selected when the group driving mode was enabled.
• the state quantity P corresponding to L v that differs by a predetermined stage is automatically selected from the state quantity set S 1.
• the execution unit 22 executes a specific L v (for example, the smallest L v, the largest L v, the middle L v, etc.) is automatically selected from the state quantity set S1.
• the execution unit 22 executes the following command:
• the state quantity P that was selected in the previous positional relationship adjustment operation that was executed is automatically selected from the state quantity set S1.
• the execution unit 2 2 selects the initial value set in advance by the rider, regardless of the state quantity P that was selected when the group driving mode was valid.
• the state quantity P corresponding to L v is automatically selected from the state quantity set S 1.
• the execution unit 2 2 when the group driving mode is switched between valid and invalid, the execution unit 2 2 automatically selects the state quantity P, and the state quantity P is determined based on the positional relationship.
• the state quantity P may be set as a control value for the positional relationship adjustment operation.
• the execution unit 2 2 performs the following actions in the positional relationship adjustment operation: Control is performed so that the absolute value of the first derivative and/or the absolute value of the second derivative of the running speed does not exceed the limit value.
• the execution unit 22 sets the limit value to be different depending on whether the group driving mode is enabled or not.
• the limit value is set small, that is, saddle riding The vehicle is controlled to a state in which the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed occurring in type vehicle 1 ⁇ ⁇ tends to decrease (corresponding to the "first state" of the present invention), and the group driving mode is set.
• the limit value is set to a large value.
• the limit value is set to a large value, that is, the limit value is set to a large value, which occurs in a saddle-ride type vehicle.
• the limit value is set small, that is, the absolute value and/or the first derivative of the traveling speed occurring in the saddle type vehicle 100 2nd floor may be controlled to a state in which the absolute value of the component tends to decrease (corresponding to the "first state” of the present invention).
• the execution unit 2 2 operates the braking device 3 to execute the positional relationship adjustment operation, as in the case where the group driving mode is not valid.
• the distribution of braking force to the front and rear wheels of saddle-ride vehicle 1 ⁇ ⁇ is controlled to a predetermined ratio.
• the execution unit 22 makes the ratio different between when the group running mode is enabled and when the group running mode is not enabled.
• the rear wheels account for the total braking force generated between the front and rear wheels.
• the braking force generated on the rear wheels accounts for the total braking force generated on the front and rear wheels.
• the ratio is set high, that is, the braking force distribution to the front and rear wheels in the saddle type vehicle 100 is controlled so that the rear wheel priority tends to increase (corresponding to the "second state" of the present invention). Ru.
• the rear wheel priority is increased at the start of braking, and then the rear wheel priority is lowered.
• the proportion of the braking force generated on the rear wheels to the total braking force generated on the front and rear wheels is set to be high.
• the braking force distribution to the front and rear wheels in the saddle type vehicle 100 is controlled so that the rear wheel priority tends to increase (corresponding to the "second state” of the present invention), and group driving is performed.
• the proportion of the braking force generated on the rear wheels to the total braking force generated on the front and rear wheels is set to be low.
• the rear wheel priority of braking force distribution to the front and rear wheels in the saddle type vehicle 100 may be controlled to a state where the rear wheel priority tends to decrease (corresponding to the "first state” of the present invention).
• the state quantity P that is selected depending on whether the group driving mode is enabled, the absolute value of the first derivative of the traveling speed that occurs in saddle type vehicle 1 ⁇ ⁇ , and /or We have explained the case where the limit value of the absolute value of the second derivative and the ratio of braking force distribution to the front and rear wheels of a saddle-riding vehicle 1 ⁇ ⁇ constantly switch. It is also possible to decide whether or not to switch between them by taking these into account.
• the execution unit 2 2 selects the state quantity P, which is selected according to the road alignment information of the road on which the saddle-ride vehicle 1 0 runs, and the saddle-ride vehicle 1 ⁇
• the road alignment information may be obtained from map information or may be obtained based on the output of a vehicle behavior sensor 1 2 (particularly an inertial sensor).
• execution part 2 2 is selected when the group driving mode is switched from disabled to enabled in a situation where the road on which saddle-type vehicle 1 0 0 is traveling is a straight road. It is selected when the state quantity P is maintained in the separation tendency, that is, switching is prohibited, and the group driving mode is switched from disabled to enabled in a situation where the road on which saddle-riding vehicle 1 ⁇ ⁇ is traveling is a curved road. Switch the state quantity P to the approaching tendency, that is, allow switching. For example, when the group driving mode is switched from disabled to enabled in a situation where the road on which the saddle-riding vehicle 1 ⁇ ⁇ is traveling is a curved road, the execution unit 2 2 sets the selected state quantity P to the approaching tendency.
• Maintaining that is, switching is prohibited, and group driving mode is disabled in situations where the road on which saddle-riding vehicle 1 ⁇ ⁇ is traveling is a straight road.
• the selected state quantity P is switched to the separation tendency, that is, the switch is allowed.
• the execution unit 22 determines the traveling speed that occurs in the saddle-riding vehicle 100 when the group driving mode is switched from disabled to enabled in a situation where the road on which the saddle-riding vehicle 100 is traveling is a straight road.
• the absolute value of the first-order differential and/or the absolute value of the second-order differential of is maintained in a decreasing trend, that is, switching is prohibited, and the group driving is carried out in a situation where the road on which the saddle-riding vehicle 1 ⁇ ⁇ is traveling is a curved road.
• the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed occurring in the saddle type vehicle 1 0 0 is switched to an increasing tendency, that is, the switching is allowed. do.
• the execution unit 22 executes the driving that occurs in saddle-ride vehicle 1 ⁇ ⁇ when the group driving mode is switched from disabled to enabled in a situation where the road on which saddle-ride vehicle 1 ⁇ ⁇ is traveling is a curved road.
• the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed occurring in saddle-ride vehicle 1 ⁇ ⁇ is switched to a decreasing tendency, that is, the switching is allowed.
• the execution unit 22 determines the front and rear of saddle-riding vehicle 100.
• the execution unit 2 2 selects the saddle type vehicle 1 0 0 according to the positional information (for example, information about the first, middle, last, etc.) within the group.
• the state quantity P, the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed that occurs in the saddle type vehicle 1 0 0, and/or the front and rear wheels of the saddle type vehicle 1 ⁇ ⁇ Determines whether or not the braking force distribution ratio can be switched.
• the execution unit 2 2 is selected when the group driving mode is switched from disabled to enabled while saddle-type vehicle 1 0 0 is running at the head of the group.
• Switch the quantity P to the approaching tendency that is, allow the switch.
• the execution unit 2 2 calculates the state quantity P to be selected as the approaching tendency.
• the execution unit 22 executes an error that occurs when the saddle-type vehicle 100 decelerates when the group driving mode is switched from disabled to enabled in a situation where the saddle-type vehicle 100 is not running at the rear of the vehicle. Decrease the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed. Maintain the trend, that is, prohibit switching, and saddle-ride vehicle 1 ⁇ ⁇ is running at the end of the group.
• the execution unit 2 2 is a saddle type vehicle.
• the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed that occurs in the decelerating saddle-ride vehicle 1 ⁇ ⁇ is switched to a decreasing tendency, that is, the switching is allowed.
• execution unit 22 executes the following command: The rear wheel priority of braking force distribution to the front and rear wheels is maintained in a decreasing trend, that is, switching is prohibited, and the group driving mode is disabled in the situation where the saddle type vehicle 1 ⁇ ⁇ is not running at the end of the group.
• the rear wheel priority of the braking force distribution to the front and rear wheels in saddle type vehicle 1 ⁇ ⁇ is switched to an increasing tendency, that is, the switching is allowed.
• the execution unit 22 executes the following in saddle-riding vehicle 1 0 0.
• the rear wheel priority of braking force distribution to the front and rear wheels is maintained in an increasing trend, that is, switching is prohibited, and group driving mode is disabled when saddle-type vehicle 1 ⁇ ⁇ is running at the end of the group.
• the switch is enabled, the rear wheel priority of the braking force distribution to the front and rear wheels in saddle type vehicle 1 ⁇ ⁇ is switched to a decreasing tendency, that is, the switch is allowed.
• FIG. 8 is a diagram for explaining 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. 8 while the saddle type vehicle 100 is traveling.
• step S101 the acquisition unit 21 acquires positional relationship information between the traveling saddle-type vehicle 100 and the target 200. In addition, the acquisition unit 21 acquires various information as necessary.
• step S 1 ⁇ 2 the execution unit 2 2 automatically changes the running speed of the saddle-ride type vehicle 1 ⁇ ⁇ based on the positional relationship information acquired in step S 1 0 1. , executes a positional relationship adjustment operation to adjust the positional relationship between the saddle type vehicle 1 ⁇ ⁇ and the target 2 0 0.
• the execution unit 22 determines that the positional relationship between the saddle-ride vehicle 100 and the target 200 is different depending on whether the group driving mode is enabled or not. Execute separate operating modes.
• the first state is a state in which the positional relationship between the saddle-riding vehicle 1 0 0 and the target 2 0 0 tends to separate
• the second state is a state in which the saddle-riding vehicle 1 0 tends to move away from the target. This is a state in which the positional relationship between 0 and target 2 0 0 tends to approach each other.
• the first state is a state in which the absolute value of the first derivative and/or the absolute value of the second derivative of the traveling speed occurring in the saddle type vehicle 1 ⁇ ⁇ tends to decrease.
• the second state is a state in which the absolute value of the first differential and/or the absolute value of the second differential of the traveling speed occurring in the saddle type vehicle 100 tends to increase.
• the first state is a state in which the rear wheel priority in braking force distribution to the front and rear wheels in the saddle type vehicle 1 ⁇ ⁇ tends to decrease
• the second state is a state in which the rear wheel priority in braking force distribution to the front and rear wheels in the saddle type vehicle 1 ⁇ ⁇ tends to decrease.
• the rear wheel priority in braking force distribution to the front and rear wheels tends to increase.
• the execution unit 2 2 adjusts the positional relationship in the longitudinal direction of the travel lane D L between the saddle-ride type vehicle 1 0 0 and the target 2 0 0 as the positional relationship adjustment operation.
• the execution unit 22 adjusts the positional relationship between the saddle type vehicle 100 and the target 200 in the width direction of the driving lane D L as the positional relationship adjustment operation. You may perform the following actions. In such a case, the control device 20 may output a command to a drive mechanism added to the steering of the saddle-ride type vehicle 100 to perform the rider support operation.
• 1 Rider support system ! 1 Ambient environment sensor, 1 2 Vehicle behavior sensor, 1 3 Setting input device, 2 ⁇ Control device, 2 1 Acquisition unit, 2 2 Execution unit, 3 ⁇ Braking device, 4 ⁇ Driving device, 5 ⁇ Notification device, 1 0 0 Saddle type vehicle, 2 0 0 Target, 3 0 0 Other saddle type vehicle, 3 0 0 1 Virtual vehicle, D L Driving lane, L 1 1st vehicle convoy, L 2 2nd Vehicle convoy, P state, S 1 , S 2 state set, d 1 , d 2 distance.

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• Engineering & Computer Science (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

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• 2023
  • 2023-03-14 WO PCT/IB2023/052436 patent/WO2023187525A1/ja not_active Ceased
  • 2023-03-14 CN CN202380031301.8A patent/CN118973873A/zh active Pending
  • 2023-03-14 EP EP23717236.6A patent/EP4501720A1/en active Pending
  • 2023-03-14 JP JP2024510542A patent/JP7783976B2/ja active Active
  • 2023-03-14 US US18/848,703 patent/US20250206307A1/en active Pending

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