Information notification device for vehicle

Abstract

The information notification device of the vehicle is provided with: a pair of handlebars (41A, 51A) formed on a steering handlebar (2); and a vibration device (47, 48, 57, 58) arranged on at least one of the pair of handlebars (41A, 51A) to notify a predetermined information to a driver, wherein the vibration device (47, 48, 57, 58) is provided with a plurality of vibration devices on the handlebars on the left and right sides. The pair of handlebars (41A, 51A) is respectively provided with a plurality of vibration devices (47, 48, 57, 58).

Description

Technical Field

[0001] This invention relates to a vehicle information notification device.

[0002] This application claims priority based on Japanese Patent Application No. 2020-192290, filed on November 19, 2020, the contents of which are incorporated herein by reference. Background Technology

[0003] Previously, it was known that a tactile stimulation device provided to the driver via the tactile sense during automatic driving of a vehicle was used to provide tactile information prompts (for example, see Patent Document 1).

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-181269 Summary of the Invention

[0007] Summary of the invention

[0008] The problem that the invention aims to solve

[0009] Compared to visual information notifications, tactile information notifications, as described above, can reliably deliver information to the driver by delivering it to a part of the vehicle that the driver is constantly in contact with during driving.

[0010] However, in structures that communicate solely through the presence or absence of tactile stimuli, the amount of information conveyed is limited. Therefore, there is a desire for structures that can provide drivers with more information and increase the variety of information presented.

[0011] Therefore, the object of the present invention is to enable a vehicle information notification device that provides tactile information notification to the driver to provide more information and increase the variety of information to be notified.

[0012] Solution for solving the problem

[0013] As a solution to the aforementioned problem, the vehicle information notification device of the present invention comprises: a pair of left and right handlebars (41A, 51A) configured on a steering handlebar (2); and a vibration device (47, 48, 57, 58) disposed on at least one of the left and right handlebars (41A, 51A) for notifying the driver of predetermined information. Multiple vibration devices (47, 48, 57, 58) are provided in the handlebars on the left and right sides.

[0014] According to this structure, a vibration device for notifying the driver is provided on at least one of the left and right handlebars of the steering handle. Multiple vibration devices are provided in the handlebars on both sides. Therefore, it is possible to combine different operating methods based not only on the presence or absence of vibration, but also on the differences in which of the multiple vibration devices operates. This allows for the notification of more information to the driver and increases the variety of information provided.

[0015] In addition, in this invention, the vehicle information notification device has an operation intervention function that can intervene in the operation performed by the driver, and the vibration device (47, 48, 57, 58) vibrates in conjunction with the operation intervention function.

[0016] This structure allows the vibration device to vibrate in conjunction with the driver intervention function. Thus, the vibration of the device can notify the driver of the operation status of the intervention function.

[0017] Furthermore, in this invention, during the waiting state before the operation intervention function is activated and before the operation intervention function is operational, the vibration devices (47, 48, 57, 58) vibrate as follows: that is, they vibrate in a different manner than when the operation intervention function is operational.

[0018] According to this structure, in the waiting state where only the operation intervention function is activated, the vibration device vibrates in a different manner than when the operation intervention function is actively operating. This allows the driver to be notified that the operation intervention function is in a waiting state where it is ready to operate.

[0019] In this invention, during the waiting state, the vibration devices (47, 48, 57, 58) vibrate intermittently at a predetermined first time interval. When the operation intervention function is activated, the vibration devices (47, 48, 57, 58) vibrate intermittently at a second time interval shorter than the first time interval, or vibrate continuously without any time interval.

[0020] According to this structure, when the intervention function is in operation, the vibration device vibrates at time intervals shorter than those in the waiting state. This allows the driver to be notified when the intervention function transitions from a waiting state to an operational state.

[0021] In this invention, multiple vibration devices (47, 48, 57, 58) may be provided on both sides of the left and right handles (41A, 51A).

[0022] According to this structure, each of the left and right handlebars is equipped with multiple vibration devices, thus allowing for the combination of different vibrations in the left and right handlebars. This enables the driver to receive more information and further increases the variety of information being communicated.

[0023] In this invention, the vehicle information notification device may also have at least one of a steering intervention function and a braking intervention function as the operation intervention function.

[0024] According to this structure, at least one of the steering intervention function and the braking intervention function is activated. Thus, the driver can be notified via vibration from the vibration device.

[0025] In this invention, the plurality of vibration devices (47, 48, 57, 58) provided on the left and right sides of the handles can be arranged along the axial direction of the handles (41A, 51A) in the vehicle width direction. Alternatively, the vibration device (48, 58) among the plurality of vibration devices (47, 48, 57, 58) located outside the handles (41A, 51A) in the vehicle width direction vibrates in conjunction with the steering intervention function.

[0026] According to this structure, the vibration of the vibration device located on the outside of the handlebar in the vehicle width direction is linked to the steering intervention function. Therefore, the direction of steering based on the steering intervention function can be easily and clearly indicated by the vibration of the vibration device on the outside of the handlebar in the vehicle width direction.

[0027] In this invention, the plurality of vibration devices (47, 48, 57, 58) provided on the handles on the left and right sides may be arranged along the axial direction of the handles (41A, 51A) in the vehicle width direction. Alternatively, the vibration device (47, 57) among the plurality of vibration devices (47, 48, 57, 58) disposed on the inner side of the handles (41A, 51A) in the vehicle width direction may vibrate in conjunction with the braking intervention function.

[0028] According to this structure, the vibration of the vibration device located inside the handlebar in the vehicle width direction among the multiple vibration devices is linked to the braking intervention function. Therefore, the operation of the braking intervention function can be easily and clearly notified by the vibration of the vibration device inside the handlebar in the vehicle width direction.

[0029] In this invention, it is also possible that when the operation intervention function is working, the vibration device (47, 48, 57, 58) vibrates at a frequency (H) higher than the frequency (L) of the waiting state.

[0030] According to this structure, when the intervention function is activated, the vibration device vibrates at a higher frequency than in the waiting state. This allows the driver to be notified when the intervention function transitions from a waiting state to an activated state.

[0031] In this invention, the vibration device (47, 48, 57, 58) may also start vibrating at a time (ta, te) earlier than the start time (tb, tf) of the operation intervention function when it is working.

[0032] According to this structure, the vibration device starts vibrating earlier than the start of the operational intervention function. This allows the driver to be notified in advance of the start of the operational intervention function.

[0033] In this invention, the vehicle information notification device may also include a display device (66, 67) that is linked to the vibration of the vibration device (47, 48, 57, 58) for displaying predetermined information to the driver.

[0034] Based on this structure, a display device is also included that is linked to the vibration of the vibration device. Therefore, by utilizing the vibration of the vibration device and the display on the display device, information can be communicated to the driver more reliably.

[0035] Invention Effects

[0036] According to the present invention, in a vehicle information notification device for providing tactile information notification to the driver, more information can be notified to the driver, and the variety of information notified can be increased. Attached Figure Description

[0037] Figure 1 This is a left-side view of a motorized two-wheeled vehicle according to an embodiment of the present invention.

[0038] Figure 2 This is a three-dimensional view of the area around the handlebars of the aforementioned motorized two-wheeled vehicle from the driver's perspective.

[0039] Figure 3 This is an explanatory diagram of the steering actuator of the aforementioned motorized two-wheeled vehicle.

[0040] Figure 4 This is a block diagram of the driving support device for the aforementioned motorized two-wheeled vehicle.

[0041] Figure 5 This is a diagram illustrating the function of the aforementioned driving support device in its waiting state.

[0042] Figure 6 This is a line graph showing the changes over time in the operation of various devices during the waiting state of the aforementioned driving support devices.

[0043] Figure 7 This is a diagram illustrating the function of the aforementioned driving support device when it engages right steering.

[0044] Figure 8 This is a line graph showing the operation of various devices over time when the aforementioned driving support system engages right turn.

[0045] Figure 9 This is a diagram illustrating the function of the aforementioned driving support device when it engages left steering.

[0046] Figure 10 This is a line graph showing the operation of various devices over time when the aforementioned driving support system engages left-turn.

[0047] Figure 11 This is a diagram illustrating the function of the aforementioned driving support device when braking is engaged.

[0048] Figure 12 This is a line graph showing the operation of various devices over time when the braking intervention of the aforementioned driving support device is activated. Detailed Implementation

[0049] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the directions (front, back, left, right, etc.) used in the following description are the same as the directions in the vehicle described below. Furthermore, in the drawings used in the following description, arrows indicating the front of the vehicle (FR), the left side of the vehicle (LH), and the top of the vehicle (UP) are shown in appropriate locations.

[0050] <Vehicle as a whole>

[0051] Figure 1 A motorized two-wheeled vehicle 1 is shown as an example of a vehicle according to this embodiment. The motorized two-wheeled vehicle 1 includes a front wheel (steering wheel) 3 steered via handlebars 2 and a rear wheel (drive wheel) 4 driven by a power unit 20. The motorized two-wheeled vehicle 1 is a straddle-type vehicle in which the driver straddles the vehicle. The motorized two-wheeled vehicle 1 is capable of swaying (tilting) to the left and right (lateral tilting direction) with reference to the contact points of the front and rear wheels 3 and 4. The vehicle of this embodiment is not limited to a motorized two-wheeled vehicle that turns in the direction that causes the vehicle to tilt. The vehicle of this embodiment includes vehicles that turn by steering the steering wheel without tilting the vehicle.

[0052] The motorized two-wheeled vehicle 1 includes a steering system component 10A comprising handlebars 2 and a front wheel 3. The steering system component 10A is steerably supported on a head tube 6. The head tube 6 is located at the front end of the frame 5, which forms the skeleton of the motorized two-wheeled vehicle 1. The front wheel 3 is supported on the lower ends of a pair of left and right front forks 10 in the steering system component 10A. The frame 5 is surrounded by a body cover 12.

[0053] The frame 5 has a head tube 6, a pair of main frames 7, a pair of pivot frames 8, and a pair of seat frames 9.

[0054] The head tube 6 supports the steering system component 10A to enable steering. The left and right main frames 7 extend from the head tube 6, with the front higher than the rear. The left and right pivot frames 8 extend downward from the rear ends of the left and right main frames 7, respectively. The left and right seat frames 9 extend from the upper parts of the left and right pivot frames 8, with the front lower than the rear.

[0055] A pivot 8a, extending along the vehicle width, is mounted on the left and right pivot frames 8. The front end of the swing arm 11 is supported on the left and right pivot frames 8 via the pivot 8a, allowing it to swing up and down. The rear wheel 4 is supported on the rear end of the swing arm 11. A buffer unit (not shown) is mounted between the frame 5 and the swing arm 11 as a shock absorber.

[0056] A fuel tank 18 is supported on the upper part of the left and right main frames 7. A seat 19 is supported behind the fuel tank 18 by the left and right seat frames 9.

[0057] The power unit 20 of the motorized two-wheeled vehicle 1 is supported on the left and right main frames 7 and the left and right pivot frames 8. The output shaft of the power unit 20 is connected to the rear wheel 4 via a chain-type transmission mechanism (not shown) to transmit power.

[0058] The power unit 20 integrates an engine (internal combustion engine) 13 that serves as a prime mover and a transmission 21 connected to the rear of the engine 13.

[0059] The motorized two-wheeled vehicle 1 is equipped with a front wheel brake 3B for braking the front wheel 3 and a rear wheel brake 4B for braking the rear wheel 4. Both the front wheel brake 3B and the rear wheel brake 4B are disc brakes.

[0060] The front wheel brake 3B and the rear wheel brake 4B are connected by a brake lever 43 (see reference) which acts as a brake operating element. Figure 2 The front wheel 3 and rear wheel 4 are properly braked by operating the brake pedal (not shown) and the brake actuator. Additionally, the front wheel brake 3B and rear wheel brake 4B are also braked by the brake actuator 102 described later (see reference). Figure 4 The mechanism is designed to properly brake the rotation of the front wheel 3 and the rear wheel 4.

[0061] The motorized two-wheeled vehicle 1 is equipped with a driving support device 70 (see reference) that supports the driver's driving operations (in this embodiment, steering operations to steer the front wheels 3 and braking operations to brake the front wheels 3 and the rear wheels 4). Figure 4The driving support device 70 includes a control device 71 that controls the function of automatically intervening in the driver's driving operations (automatic operation intervention function). The automatic operation intervention function includes automatic steering intervention function and automatic braking intervention function. The driving support device 70 will be described in detail later.

[0062] Figure 2 The image shows the handlebar 2 perimeter of the front of the motorcycle as viewed from the driver's perspective. The upper parts of the left and right front forks 10 are supported on the head tube 6 via a steering rod 31. The left and right front forks 10 are telescopic shock absorbers. The steering rod 31 includes a top bridge 32 and a bottom bridge 33 that connect the upper parts of the left and right front forks 10 to each other, and a rod axle (steering axle) 34 that passes through the head tube 6. The front of the motorcycle is covered by a front cover 27 of the body cover 12.

[0063] For example, the handlebars 2 of the motorized two-wheeled vehicle 1 are split handlebars, with a pair of right handlebars 36 and left handlebars 37. For example, the right handlebars 36 and left handlebars 37 are respectively mounted on the upper part of the left and right front forks 10 below the top bridge 32.

[0064] The right handlebar 36 has a right handlebar 41A for the driver to hold with their right hand. The right handlebar 41A includes: a cylindrical right handlebar bar 36A that extends linearly along the width of the vehicle; and an accelerator sleeve 41 that is rotatably fitted around the right handlebar bar 36A. The right handlebar bar 36A is made of a metal tube or the like. The accelerator sleeve 41 is constructed by fixing a rubber handle to the outer periphery of a synthetic resin body.

[0065] The right handlebar lever 36A extends inward in the vehicle width direction from the accelerator sleeve 41, supporting the right switch box 42 and the right lever bracket 44. Symbol 43 in the figure indicates a right lever (e.g., the front brake lever) that is pivotally supported on the right lever bracket 44. The inward end of the right handlebar lever 36A in the vehicle width direction is fixed to the upper part of the right front fork 10 via the right handlebar clamp 36B.

[0066] The right handlebar 41A includes a right actuator 46 for providing vibrations as information notification to the driver's right hand. The right actuator 46 is disposed on at least one of the right handlebar lever 36A and the accelerator sleeve 41. The right actuator 46 includes: a right inner actuator (vibration device) 47 disposed inside the right handlebar 41A in the vehicle width direction; and a right outer actuator (vibration device) 48 disposed outside the right handlebar 41A in the vehicle width direction. The right inner actuator 47 and the right outer actuator 48 are arranged along the axial direction of the right handlebar 41A in the vehicle width direction. For example, the right inner actuator 47 and the right outer actuator 48 are composed of piezoelectric elements or other oscillators.

[0067] The left handlebar 37 has a left handlebar 51A for the rider to hold with their left hand. The left handlebar 51A includes: a cylindrical left handlebar bar 37A that extends linearly along the width of the vehicle; and a handlebar grip 51 fixedly mounted on the left handlebar bar 37A. The left handlebar bar 37A is made of metal tubing or the like. The handlebar grip 51 is a rubber grip made of synthetic rubber.

[0068] The left handlebar lever 37A extends inward in the width direction from the handlebar handle 51, supporting the left switch box 52 and the left lever bracket 54. Symbol 53 in the figure indicates the left lever (e.g., clutch lever). The inward end of the left handlebar lever 37A in the width direction is fixed to the upper part of the left front fork 10 via the left handlebar clamp 37B.

[0069] The left handlebar 51A includes a left actuator 56 for providing vibrations as information notification to the driver's left hand. The left actuator 56 is disposed on at least one of the left handlebar stalk 37A and the handlebar 51. The left actuator 56 includes: a left inner actuator (vibration device) 57 disposed inside the left handlebar 51A in the vehicle width direction; and a left outer actuator (vibration device) 58 disposed outside the left handlebar 51A in the vehicle width direction. The left inner actuator 57 and the left outer actuator 58 are arranged along the longitudinal axis of the left handlebar 51A in the vehicle width direction. For example, similar to the right inner actuator 47 and the right outer actuator 48, the left inner actuator 57 and the left outer actuator 58 are composed of a piezoelectric element or other oscillator structure.

[0070] An instrument panel 61 is mounted in front of the front fork 10. The instrument panel 61 is supported on the frame 5 or the front cover 27. The instrument panel 61 includes, for example, a display screen 62 such as an LCD screen that displays images of vehicle speed and engine speed, and a group of indicator lights 63 arranged around the display screen 62 to notify various information.

[0071] The indicator light group 63 includes a right indicator light (display device) 66 arranged on the right side of the display screen 62 and a left indicator light (display device) 67 arranged on the left side of the display screen 62. The right indicator light 66 illuminates in conjunction with the operation of the right inner actuator 47 and the right outer actuator 48. The left indicator light 67 illuminates in conjunction with the operation of the left inner actuator 57 and the left outer actuator 58. The display screen 62 notifies the driver of predetermined information by displaying predetermined images. The indicator light group 63 notifies the driver of predetermined information by displaying predetermined illumination (lighting up or flashing).

[0072] Figure 3 The periphery of the top bridge 32 is shown as viewed from above the axial direction of the rod shaft 34.

[0073] For the steering system component 10A, steering input is automatically performed separately from the driver's operation of the handlebars 2 via the steering assist device 73.

[0074] The steering assist device 73 includes a steering actuator 74, an arm 75, a connecting rod 76, and a steering control unit 77.

[0075] The steering actuator 74 includes an electric motor that serves as the drive source for the automatic steering intervention function. The steering actuator 74 is, for example, fixed to the vehicle frame 5. The base end of the arm 75 is integrally rotatably fixed to the drive shaft 74a, which serves as the output shaft of the steering actuator 74. One end of the connecting rod 76 is pivotally connected to the front end of the arm 75 via a first connecting pin 78. The other end of the connecting rod 76 is pivotally connected to the rod connection portion 32a provided on the top bridge 32 via a second connecting pin 79.

[0076] The operation of the steering actuator 74 is controlled by the steering control unit 77. The output of the steering actuator 74 (the rotational torque of the drive shaft 74a) is transmitted to the top bridge 32 via the arm 75 and the connecting rod 76. As a result, the steering actuator 74 causes the steering system components 10A to generate steering torque (auxiliary torque).

[0077] <Driver Support Device>

[0078] like Figure 4 As shown, the driving support device 70 includes a control device 71, various sensor types 81, and various device types 82. The control device 71 controls the operation of the various device types 82 based on the detection information obtained from the various sensor types 81.

[0079] The control device 71 may consist of one or more ECUs (Electronic Control Units). The control device 71 may also implement at least a portion of its functionality through a combination of software and hardware.

[0080] The control device 71 includes an engine control unit 85, a steering control unit 77, a brake control unit 87, a display control unit 88, and a handlebar vibration control unit 89.

[0081] Various sensor types 81 include a steering torque sensor 91, a steering angle sensor 92, a vehicle acceleration sensor 93, a vehicle speed sensor 94, a camera device 96, and a radar device 97.

[0082] The steering torque sensor 91 is, for example, a magnetostrictive torque sensor disposed between the handlebar 2 and other steering system components 10A. The steering torque sensor 91 detects the torque (steering input) input from the handlebar 2 to the other steering system components 10A.

[0083] Steering angle sensor 92 is, for example, a potentiometer mounted on the steering shaft (shaft 34). Steering angle sensor 92 detects the rotation angle (steering angle) of the steering shaft relative to the vehicle body.

[0084] The vehicle body acceleration sensor 93 is a five-axis or six-axis IMU (Inertial Measurement Unit). The vehicle body acceleration sensor 93 detects the angular velocities of the vehicle body along three axes (roll axis, pitch axis, and yaw axis), and can then estimate the angle and acceleration based on the results.

[0085] The vehicle speed sensor 94, for example, detects the rotational speed of the output shaft of the power unit 20. Based on this rotational speed, the vehicle speed sensor 94 can detect the rotational speed of the rear wheel 4, and even the speed of the motorized two-wheeled vehicle 1.

[0086] The camera device 96 is equipped with a camera using a solid-state imaging element such as a CCD or CMOS. The camera device 96 uses the camera to periodically photograph, for example, the perimeter (e.g., front, back, left, and right) of the motorized two-wheeled vehicle 1. The camera device 96 generates image data from the captured images through image processing such as filtering and binarization.

[0087] Radar device 97 radiates millimeter-wave and other radio waves around the motorized two-wheeled vehicle 1. Radar device 97 detects radio waves (reflected waves) reflected by objects around the vehicle. Radar device 97 is at least able to detect the position (distance and orientation relative to the motorized two-wheeled vehicle 1) and speed of the object relative to the front, rear, left, and right sides of the motorized two-wheeled vehicle 1.

[0088] Information from the aforementioned camera device 96 and radar device 97 is used to identify the position, type, speed, etc., of objects in the detection direction. Based on this identification, driver assistance control and automatic driving control of the motorized two-wheeled vehicle 1 are performed.

[0089] Various types of devices 82 include a steering actuator 74, a brake actuator 102, an indicator light group 63, and a handle actuator 104.

[0090] The steering actuator 74 generates steering torque separately from the driver's operation of the handlebars 2, causing the front wheels 3 to turn. The steering actuator 74 can also function as a shock absorber for the steering mechanism.

[0091] The brake actuator 102 supplies hydraulic pressure separately to the front wheel brakes 3B and the rear wheel brakes 4B, independent of the driver's operation of the brake operating components, to activate the front wheel brakes 3B and the rear wheel brakes 4B. The brake actuator 102 can also function as a control unit for the ABS (Anti-lock Brake System). The brake actuator 102 can be connected to brake piping branching off from the normal brake circuit.

[0092] The indicator light group 63 includes a right indicator light 66 and a left indicator light 67. The right indicator light 66 and the left indicator light 67 illuminate in conjunction with the operation of the handle actuator 104.

[0093] The handle actuator 104 includes the aforementioned right inner actuator 47, right outer actuator 48, left inner actuator 57, and left outer actuator 58. In this embodiment, the vibration frequencies of the right inner actuator 47 and left inner actuator 57 are set lower than those of the right outer actuator 48 and left outer actuator 58. It should be noted that the vibration frequencies of each actuator 47, 48, 57, and 58 can be varied.

[0094] The control device 71 will be described next.

[0095] The engine control unit 85 controls the output of the engine 13 based on factors such as throttle opening, intake negative pressure, fuel injection quantity, valve timing, and ignition timing. Furthermore, by controlling the output of the engine 13, the speed of the motorized two-wheeled vehicle 1 is changed through the crankshaft speed of the engine 13 and the gear ratio of the transmission 21.

[0096] The steering control unit 77 controls the operation of the steering actuator 74 based on signals and information such as the steering torque signal detected by the steering torque sensor 91, the angular velocity signal detected by the vehicle acceleration sensor 93, the vehicle speed signal detected by the vehicle speed sensor 94, and detection information detected by the camera device 96 and the radar device 97. As a result, an auxiliary torque is applied to the steering system component 10A. This auxiliary torque assists in steering the front wheels 3, which act as steering wheels. Thus, the steering control unit 77 controls the automatic steering intervention function.

[0097] The brake control unit 87 controls the operation of the brake actuator 102 based on engine output, vehicle speed signals detected by the vehicle speed sensor 94, and detection information detected by the camera device 96 and radar device 97. As a result, the front wheel brakes 3B and the rear wheel brakes 4B generate auxiliary braking force. This auxiliary braking force assists in braking the front wheels 3 and rear wheels 4. Thus, the brake control unit 87 controls the automatic braking intervention function.

[0098] The display control unit 88 controls the illumination (lighting up or flashing) of the right indicator light 66 and the left indicator light 67 in conjunction with the following functions: the control of the automatic steering intervention function based on the steering control unit 77, and the control of the automatic braking intervention function based on the brake control unit 87.

[0099] The handlebar vibration control unit 89 controls the operation of the right inner actuator 47, right outer actuator 48, left inner actuator 57, and left outer actuator 58 with the following functions: the control of the automatic steering intervention function based on the steering control unit 77, and the control of the automatic braking intervention function based on the brake control unit 87.

[0100] The display control unit 88 and the handle vibration control unit 89 simultaneously perform their respective controls when the steering actuator 74 and the brake actuator 102 are working.

[0101] The aforementioned engine control unit 85, steering control unit 77, brake control unit 87, display control unit 88, and handlebar vibration control unit 89 are all equipped with microcomputers and are configured to communicate freely with each other.

[0102] Explain the function of the driving support device 70 described above.

[0103] Figure 5 The system of the driving support device 70 is shown in a state where it is activated but the automatic operation intervention function is not in operation, indicating a waiting state. In the waiting state, the main switch (power supply) of the motorized two-wheeled vehicle 1 is turned on, and the operation switch of the driving support device 70 is turned on, thus enabling the automatic operation intervention function to operate. In the waiting state, various sensors 81 monitor various parameters used for the operation of the automatic operation intervention function. Based on this monitoring information, the automatic operation intervention function can start operating immediately.

[0104] In the waiting state, the right inner actuator 47 of the right handlebar 41A and the left inner actuator 57 of the left handlebar 51A vibrate in a predetermined manner. This notifies the driver that the system is in the process of starting. It should be noted that in... Figure 5 and below Figure 7 , Figure 9 , Figure 11 In the diagram, the right inner actuator 47, right outer actuator 48, left inner actuator 57, and left outer actuator 58 are represented by shaded areas, indicating the actuators that are currently in operation (vibrating).

[0105] Figure 6 The time elapsed for the operation of the handle actuator 104, etc., in the waiting state is shown.

[0106] Figure 6 The vertical axis of the line graph represents the operating status (ON (working) and OFF (not working)) of the actuators 47, 48, 57, and 58 of the left and right handlebars 41A and 51A, as well as the left and right indicator lights 66 and 67. The vertical axis also represents the operating status (ON and OFF) of steering or braking engagement. The horizontal axis of the line graph represents time T (sec).

[0107] In the diagram, "RH inside" represents the right inner actuator 47, "LH inside" represents the left inner actuator 57, "RH outside" represents the right outer actuator 48, and "LH outside" represents the left outer actuator 58. Additionally, "indRH" represents the right indicator light 66, and "indLH" represents the left indicator light 67. It should be noted that in... Figure 8 , Figure 10 , Figure 12 In the line graph, the vertical and horizontal axes are also... Figure 6 The vertical and horizontal axes of the line graph shown are the same.

[0108] In the aforementioned waiting state, the right inner actuator 47 and the left inner actuator 57 vibrate intermittently at the same time. In the waiting state, the right inner actuator 47 and the left inner actuator 57 simultaneously vibrate for a predetermined time T1 (e.g., 0.5 to 1 second). Furthermore, the right inner actuator 47 and the left inner actuator 57 repeatedly vibrate for a predetermined time T1 at intervals of approximately 2 seconds (e.g., about 2 seconds). In the waiting state, the right inner actuator 47 and the left inner actuator 57 vibrate intermittently at a predetermined low frequency L.

[0109] Figure 7 This shows the state where the driving support device 70 activates the automatic steering intervention function from the waiting state, so that the driving path of the motorized two-wheeled vehicle 1 is oriented to the right.

[0110] For example, when the steering control unit 77 of the driving support device 70 determines that the motorized two-wheeled vehicle 1 is too close to the left side of the lane, it will make the motorized two-wheeled vehicle 1 return to the right side of its travel path.

[0111] At this time, the steering control unit 77 turns the front wheels 3 to the left via the steering actuator 74. That is, it turns the front wheels 3 to the opposite side of the side that changes the travel path of the motorized two-wheeled vehicle 1 (reverse steering). As a result, the body of the motorized two-wheeled vehicle 1 tilts towards the side where the travel path is to be changed. As a result, the motorized two-wheeled vehicle 1 can be naturally turned in the direction of the change of travel path.

[0112] It should be noted that in the case of a vehicle that turns by turning the steering wheels without tilting the vehicle body, the steering wheels are not turned in the opposite direction, but are turned in the forward direction of the change of travel path.

[0113] When the aforementioned automatic steering intervention function is in operation, only the right outer actuator 48 of the right handlebar 41A, which changes the direction of travel (to the right) of the motorized two-wheeled vehicle 1, vibrates in a different manner than in the waiting state. Furthermore, the right indicator light 66 of the instrument panel 61 begins to flash.

[0114] Therefore, the driver can identify the following points through the touch and vision of their hands holding the left and right handlebars 41A and 51A: that is, the driver can identify when the automatic steering intervention function is working and the direction the motorized two-wheeled vehicle 1 should be oriented.

[0115] Figure 8 Showing automatic steering intervention function Figure 7 The diagram shows the operating mode of each actuator 47, 48, 57, 58, etc. during operation.

[0116] Automatic steering intervention function Figure 7 During operation, only the right outer actuator 48 of the right handle 41A vibrates for a predetermined time T3 (e.g., 0.5 to 1 second). Furthermore, the right outer actuator 48 repeatedly vibrates for the time T3 at predetermined time intervals T4 (e.g., 0.5 to 1 second). Time T4 is shorter than time T2 in the waiting state. Time T3 can be the same as or shorter than time T1 in the waiting state.

[0117] That is, during the above-mentioned operation, the right outer actuator 48 vibrates intermittently with a period (T3+T4) shorter than the period (T1+T2) of the waiting state.

[0118] Furthermore, during the aforementioned operation, the right outer actuator 48 vibrates intermittently at a predetermined high frequency H. This high frequency H is higher than the low frequency L during the waiting state.

[0119] The vibration frequencies L and H of each actuator 47, 48, 57, and 58 are set to the following frequency bands. Specifically, the vibration frequencies L and H are set to frequency bands that avoid the unique vibration frequencies of the engine, wheels, etc., of the motorized two-wheeled vehicle 1. Therefore, the vibrations of each actuator 47, 48, 57, and 58 are less likely to be confused with other vibrations. As a result, the driver can easily perceive the vibrations of each actuator 47, 48, 57, and 58.

[0120] Furthermore, during the aforementioned operation, when the right outer actuator 48 is vibrating, the following operation occurs: the right indicator light 66 illuminates (flashes) in conjunction with (synchronously with) the vibration of the right outer actuator 48. It should be noted that the right indicator light 66 may also flash with a phase-dependent period relative to the vibration period of the right outer actuator 48, or flash with a different period.

[0121] Here, the timing ta at which the right outer actuator 48 begins to vibrate and the right indicator light 66 begins to flash is set as follows: That is, the timing ta is preceded by a time td (e.g., approximately 1 second) by the timing tb at which the automatic steering intervention function begins to operate. In other words, the vibration of the right outer actuator 48 and the flashing of the right indicator light 66 begin before the operation of the automatic steering intervention function. This allows the driver to be notified in advance of the start of the automatic steering intervention function.

[0122] It should be noted that the vibration of the right outer actuator 48 and the flashing of the right indicator light 66 stop simultaneously at the time when the automatic steering intervention function stops.

[0123] Figure 9 This shows the state where the driving support device 70 activates the automatic steering intervention function from the waiting state, so that the driving path of the motorized two-wheeled vehicle 1 is oriented to the left.

[0124] For example, when the steering control unit 77 of the driving support device 70 determines that the motorized two-wheeled vehicle 1 is too close to the right side of the lane, it will make the motorized two-wheeled vehicle 1 return to the left side of its travel path.

[0125] At this time, the steering control unit 77 turns the front wheels 3 to the right via the steering actuator 74. That is, it turns the front wheels 3 to the opposite side of the direction from which the motorized two-wheeled vehicle 1 is to change its travel path (reverse steering). As a result, the motorized two-wheeled vehicle 1 can be naturally turned in the direction of the change of travel path.

[0126] When the aforementioned automatic steering intervention function is in operation, only the left outer actuator 58 of the left handlebar 41A, which changes the direction of travel (to the left) of the motorized two-wheeled vehicle 1, vibrates in a different manner than in the waiting state. Furthermore, the left indicator light 67 of the instrument panel 61 begins to flash.

[0127] Therefore, the driver can identify the following points through the touch and vision of their hands holding the left and right handlebars 41A and 51A: that is, the driver can identify when the automatic steering intervention function is working and the direction the motorized two-wheeled vehicle 1 should be oriented.

[0128] Figure 10 Showing automatic steering intervention function Figure 9 The diagram shows the operating mode of each actuator 47, 48, 57, 58, etc. during operation.

[0129] Automatic steering intervention function Figure 9During operation, only the left outer actuator 58 of the left handle 41A vibrates for a predetermined time T3 (e.g., 0.5 to 1 second). Furthermore, the left outer actuator 58 repeatedly vibrates for the time T3 at predetermined time intervals T4 (e.g., 0.5 to 1 second). That is, during the above-described operation, the left outer actuator 58 vibrates intermittently with a period (T3+T4) shorter than the period (T1+T2) of the waiting state.

[0130] In addition, during the above operation, the left outer actuator 58 vibrates intermittently at a predetermined high frequency H.

[0131] In addition, during the aforementioned operation, when the left outer actuator 58 is vibrating, the following operation occurs: the left indicator light 67 also illuminates synchronously with the vibration of the left outer actuator 58.

[0132] Here, the timing ta at which the left outer actuator 58 begins to vibrate and the left indicator light 67 begins to flash is set as follows: That is, the timing ta is preceded by a time td (e.g., approximately 1 second) by the timing tb at which the automatic steering intervention function begins to operate. In other words, the vibration of the left outer actuator 58 and the flashing of the left indicator light 67 begin before the operation of the automatic steering intervention function. This allows the driver to be notified in advance of the start of the automatic steering intervention function.

[0133] It should be noted that the vibration of the left outer actuator 58 and the flashing of the left indicator light 67 stop simultaneously at the time when the automatic steering intervention function stops.

[0134] Figure 11 This shows the state in which the driving support device 70 activates the automatic braking intervention function from the waiting state, in order to brake the motorized two-wheeled vehicle 1.

[0135] The automatic braking intervention function in this embodiment is not correlated in the left-right direction, thus causing vibrations in both the left and right handlebars 41A and 51A. The automatic braking intervention function is designed for emergency situations that could induce bodily actions in the driver. Therefore, all actuators 47, 48, 57, and 58 of the left and right handlebars 41A and 51A are vibrated. At this time, the actuators 47, 48, 57, and 58 do not vibrate intermittently but continuously without time intervals.

[0136] In addition, the right indicator light 66 and the left indicator light 67 illuminate in sync with the vibration of each actuator 47, 48, 57, and 58. This illumination is not limited to being lit; it can also be flashing.

[0137] Figure 12 The diagram illustrates the operation of each actuator 47, 48, 57, 58, etc., during the automatic braking intervention function.

[0138] When the automatic braking intervention function is activated due to an obstacle in front of the motorized two-wheeled vehicle 1, all actuators 47, 48, 57, and 58 begin to vibrate. Additionally, indicator lights 66 and 67 illuminate synchronously with this vibration. Their operation is continuous without time intervals during the automatic braking intervention function's operation time T5.

[0139] At this time, the right inner actuator 47 and the left inner actuator 57 vibrate at a low frequency L. The right outer actuator 48 and the left outer actuator 58 vibrate at a high frequency H.

[0140] Here, the timing te for when each actuator 47, 48, 57, 58 begins to vibrate and each indicator light 66, 67 begins to illuminate is set as follows: That is, the timing te is preceded by a time th (e.g., approximately 1 second) by the timing tf for the automatic braking intervention function to begin operating. In other words, the vibration of each actuator 47, 48, 57, 58 and the illumination of each indicator light 66, 67 begin before the operation of the automatic braking intervention function. This allows the driver to be notified in advance of the start of the automatic braking intervention function.

[0141] It should be noted that the vibration of each actuator 47, 48, 57, and 58, as well as the illumination of each indicator light 66 and 67, will stop simultaneously when the automatic steering intervention function stops.

[0142] As described above, the vehicle information notification device of the above embodiment includes: a pair of left and right handlebars 41A and 51A formed on the steering handlebar 2; and a vibration device (right inner actuator 47, right outer actuator 48, left inner actuator 57, and left outer actuator 58) disposed on at least one (two in this embodiment) of the pair of left and right handlebars 41A and 51A, for notifying the driver of predetermined information. Multiple vibration devices are provided in a manner where multiple are provided in the handlebars on both the left and right sides. That is, the right inner actuator 47 and the right outer actuator 48 are provided in the right handlebar 41A. The left inner actuator 57 and the left outer actuator 58 are provided in the left handlebar 51A.

[0143] According to this structure, at least one of the left and right handlebars 41A and 51A of the steering handlebar 2 is equipped with a vibration device for notifying the driver. Multiple vibration devices are installed in the handlebars on both sides. Therefore, it is possible to combine different operating methods based not only on the presence or absence of vibration from the multiple vibration devices, but also on the differences in which of the multiple vibration devices operates. This allows for the notification of more information to the driver and increases the variety of information provided.

[0144] Furthermore, the vehicle's information notification device is equipped with multiple vibration devices on both sides of the left and right handlebars 41A and 51A. This allows for the combination of different vibrations from either handlebar 41A or 51A. Consequently, more information can be communicated to the driver, and the variety of information communicated can be further increased.

[0145] Furthermore, the vehicle's information notification device has an operation intervention function that can intervene in the driver's actions. Multiple vibration devices vibrate in conjunction with this operation intervention function. Thus, the vibration of the vibration devices notifies the driver of the operation intervention function's activation status.

[0146] Furthermore, the vehicle's information notification device includes at least one (or both) of a steering intervention function and a braking intervention function as the operational intervention function. Thus, the vibration of the vibration device can notify the driver of the operation of at least one of the steering intervention function and the braking intervention function.

[0147] Furthermore, in the aforementioned vehicle information notification device, multiple vibration devices (right inner actuator 47 and right outer actuator 48 in the right handlebar 41A, and left inner actuator 57 and left outer actuator 58 in the left handlebar 51A) are arranged along the longitudinal axis in the vehicle width direction of each handlebar 41A and 51A. The vibration devices (right outer actuator 48 and left outer actuator 58) located on the outer side of each handlebar 41A and 51A in the vehicle width direction vibrate in conjunction with the steering intervention function. Thus, the direction of steering based on the steering intervention function can be easily and clearly communicated through the vibration of the vibration devices on the outer side of each handlebar 41A and 51A in the vehicle width direction.

[0148] Furthermore, in the aforementioned vehicle information notification device, the vibration devices (right inner actuator 47 and left inner actuator 57) located on the inner side of each handlebar 41A and 51A in the vehicle width direction vibrate in conjunction with the brake intervention function. Thus, the operation of the brake intervention function can be easily and clearly notified by the vibration of the vibration devices on the inner side of each handlebar 41A and 51A in the vehicle width direction.

[0149] Furthermore, in the aforementioned vehicle information notification device, during the waiting state before the operation intervention function is activated and engaged, multiple vibration devices vibrate as follows: That is, the multiple vibration devices vibrate in a different manner than when the operation intervention function is actively operating. This allows the driver to be notified that the operation intervention function is activated and is in a ready-to-operate waiting state.

[0150] Furthermore, in the information notification device of the aforementioned vehicle, the vibration device (right outer actuator 48 and left outer actuator 58) that operates when the operation intervention function is activated vibrates as follows: The vibration device operating when the operation intervention function is activated vibrates at a frequency H higher than the frequency L of the vibration device (right inner actuator 47 and left inner actuator 57) operating in the waiting state. This allows the driver to be notified that the operation intervention function has transitioned from a waiting state to an active state.

[0151] Furthermore, in the aforementioned vehicle information notification device, the vibration devices (right inner actuator 47 and left inner actuator 57) that operate in the waiting state vibrate intermittently at a predetermined first time interval. The vibration devices (actuators 47, 48, 57, and 58) that operate when the operation intervention function is active vibrate intermittently at a second time interval shorter than the first time interval, or vibrate continuously without any time interval. This structure also allows the driver to be notified when the operation intervention function transitions from a waiting state to an active state.

[0152] Furthermore, in the aforementioned vehicle information notification device, when the operation intervention function is activated, the vibration device (each actuator 47, 48, 57, 58) begins to vibrate at times ta and te, which are earlier than the start times tb and tf of the operation intervention function. This allows the driver to be notified in advance of the start of the operation intervention function.

[0153] Furthermore, the information notification device for the aforementioned vehicle also includes a display device (right indicator light 66 and left indicator light 67) that is linked to the vibration of the vibration device (each actuator 47, 48, 57, 58) to display predetermined information to the driver. Thus, by combining the vibration of the vibration device with the display of the display device, information notification to the driver can be delivered more reliably.

[0154] It should be noted that the present invention is not limited to the embodiments described above. For example, the driving support device 70 may have both steering intervention and braking intervention functions as its operation intervention functions, but it is not limited to this. That is, the driving support device 70 may also have only one of the steering intervention function and braking intervention function as its operation intervention function.

[0155] In this implementation, an example of notifying the operating information of a device related to driving assistance is shown, but the implementation is not limited to this. That is, the notification may also include information from a navigation system or an ITS (Intelligent Transport Systems).

[0156] This invention is not limited to a structure having multiple vibration devices on both the left and right handlebars. That is, the invention can be configured to have multiple vibration devices only on one of the left and right handlebars. Furthermore, the other of the left and right handlebars can be configured to have a single vibration device or no vibration device at all.

[0157] The handlebars to which this invention is applicable are not limited to separate left and right handlebars. That is, they can also be integrated left and right handlebars, and they can also be non-handlebar types.

[0158] The term "straddle-type vehicle" encompasses all vehicles in which the driver straddles the vehicle. That is, straddle-type vehicles include not only motorized two-wheeled vehicles (including bicycles and small motorcycles with a prime mover), but also three-wheeled (including vehicles with two wheels in the front and one in the back, as well as vehicles with two wheels in the front and one in the back) or four-wheeled vehicles. Furthermore, it includes vehicles whose prime mover contains an electric motor. Moreover, it is not limited to straddle-type vehicles; it can be applied to all vehicles with left and right handlebars for steering.

[0159] Furthermore, the structure described above is an example of the present invention. That is, the constituent elements of the embodiment can be replaced with well-known constituent elements, and various modifications can be made without departing from the spirit of the present invention.

[0160] Symbol explanation:

[0161] 1. Motorized two-wheeled vehicle (horseback riding type)

[0162] 2 handlebars

[0163] 41A Right Handle (Handle)

[0164] 47. Right inner actuator (vibration device)

[0165] 48. Right outer actuator (vibration device)

[0166] 51A Left Handle (Handle)

[0167] 57. Left inner actuator (vibration device)

[0168] 58. Left outer actuator (vibration device)

[0169] 66 Right indicator light (display device)

[0170] 67. Left indicator light (display device)

[0171] L Low frequency (frequency of the waiting state)

[0172] H is a high frequency (a higher frequency than the waiting state).

[0173] T2 (first time interval)

[0174] T4 (Second time interval)

[0175] When does the TB and TF operation intervention function start?

[0176] ta, te (the timing before the start of the intervention function)

Claims

1. A vehicle information notification device, wherein, The vehicle information notification device includes: a pair of left and right handlebars (41A, 51A) formed on the steering handlebar (2); a vibration device (47, 48, 57, 58) disposed on at least one of the left and right handlebars (41A, 51A) for notifying the driver of predetermined information; and a handlebar vibration control unit (89) for controlling the operation of the vibration device (47, 48, 57, 58). Multiple vibration devices (47, 48, 57, 58) are arranged along the axial direction of the handles on the left and right sides. The vehicle information notification device has an operation intervention function that can intervene in the driver's operations based on sensor detection information. The operational intervention functions include: an automatic steering intervention function that applies auxiliary torque to assist the steering of the steering wheels; and an automatic braking intervention function that assists the braking of the front wheels (3) and / or the rear wheels (4) by generating auxiliary braking force. The handle vibration control unit (89) causes the vibration devices (47, 48, 57, 58) to vibrate in conjunction with the operation intervention function, thereby causing any one of the plurality of vibration devices (47, 48, 57, 58) to vibrate. In the waiting state before the system starts and the operation intervention function is activated, the handle vibration control unit (89) causes the vibration devices (47, 48, 57, 58) to vibrate intermittently at a predetermined first time interval (T2). When the operation intervention function is working, the handle vibration control unit (89) causes the vibration devices (47, 48, 57, 58) to vibrate intermittently at a second time interval (T4) shorter than the first time interval (T2) when the automatic steering intervention function is executed, and causes the vibration devices (47, 48, 57, 58) to vibrate continuously without time intervals when the automatic braking intervention function is executed.

2. The vehicle information notification device according to claim 1, wherein, Multiple vibration devices (47, 48, 57, 58) are provided on both sides of the left and right handles (41A, 51A).

3. The vehicle information notification device according to claim 1, wherein, The vehicle information notification device has at least one of a steering intervention function and a braking intervention function as the operation intervention function.

4. The vehicle information notification device according to claim 3, wherein, The multiple vibration devices (47, 48, 57, 58) provided on the handles on the left and right sides are arranged along the longitudinal axis of the handles (41A, 51A) in the vehicle width direction. The vibration device (48, 58) of the plurality of vibration devices (47, 48, 57, 58) disposed on the outside of the handle (41A, 51A) in the vehicle width direction vibrates in conjunction with the steering intervention function.

5. The vehicle information notification device according to claim 3 or 4, wherein, The multiple vibration devices (47, 48, 57, 58) provided on the handles on the left and right sides are arranged along the longitudinal axis of the handles (41A, 51A) in the vehicle width direction. The vibration device (47, 57) among the plurality of vibration devices (47, 48, 57, 58) disposed inside the handle (41A, 51A) in the vehicle width direction vibrates in conjunction with the braking intervention function.

6. The vehicle information notification device according to any one of claims 1 to 4, wherein, When the operation intervention function is in operation, the vibration device (47, 48, 57, 58) vibrates at a frequency (H) that is higher than the frequency (L) of the waiting state.

7. The vehicle information notification device according to any one of claims 1 to 4, wherein, When the operation intervention function is working, the vibration device (47, 48, 57, 58) starts to vibrate at a time (ta, te) earlier than the start time (tb, tf) of the operation intervention function.

8. The vehicle information notification device according to any one of claims 1 to 4, wherein, The vehicle information notification device includes a display device (66, 67) that is linked to the vibration of the vibration devices (47, 48, 57, 58) for displaying predetermined information to the driver.

9. The vehicle information notification device according to claim 1, wherein, Multiple vibration devices (47, 48, 57, 58) are arranged along the axial direction of both sides of the left and right pair of handles. When the handle vibration control unit (89) is in the waiting state, it causes the vibration devices (47, 48, 57, 58) arranged inside the handle in the vehicle width direction to vibrate. When the automatic steering intervention function is executed, the handle vibration control unit (89) causes the vibration devices (47, 48, 57, 58) located on the outside of the handle in the vehicle width direction on the side where the vehicle's travel path changes direction to vibrate. When the automatic braking intervention function is executed, the handle vibration control unit (89) causes all of the multiple vibration devices (47, 48, 57, 58) to vibrate.

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