Control device and control method
By adjusting the positional relationship between the tilting vehicle and the preceding vehicle and disengaging the control mode when necessary, the problem of the tilting vehicle tipping over during automatic start-up was solved, improving safety and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2024-11-27
- Publication Date
- 2026-07-10
Smart Images
Figure CN122374209A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to control devices and control methods that can improve safety. Background Technology
[0002] In the past, various technologies have been proposed to assist riders in driving tilted vehicles. For example, Patent Document 1 discloses a rider assistance system that warns the rider of inappropriate approach to an obstacle based on information detected by a sensor device that detects obstacles in or substantially in the direction of travel.
[0003] Existing technical documents Patent documents Patent document 1: Japanese Patent Application Publication No. 2009-116882. Summary of the Invention
[0004] The problem that the invention aims to solve Incidentally, as a technology for assisting vehicle driving, there are known control modes that perform positional adjustment actions to adjust the positional relationship between the vehicle and the preceding vehicle to achieve a target positional relationship. In such control modes, there are techniques that, upon receiving a trigger signal, transition from a first stage where the vehicle stops to a second stage where the vehicle automatically starts moving. When such a technology is used in a tilted vehicle, since the tilted vehicle's body behavior is more prone to instability compared to other vehicles (such as automobiles), safety considerations are necessary.
[0005] The present invention was made in light of the aforementioned issues, and provides a control device and control method that can improve safety.
[0006] Methods for solving problems The control device involved in this invention is a control device for controlling the behavior of a tilting vehicle. It includes an execution unit that activates a control mode for performing a positional relationship adjustment action based on setting input information set by the rider of the tilting vehicle. The positional relationship adjustment action adjusts the positional relationship between the tilting vehicle and a preceding vehicle based on the surrounding environment information of the tilting vehicle to achieve a target positional relationship. When the execution unit obtains trigger information, it switches the control mode from a first stage where the tilting vehicle stops to a second stage where the tilting vehicle starts automatically. When the control mode is activated, the execution unit obtains rollover probability information, which indicates the probability of the tilting vehicle rolling over in the second stage. If the rollover probability information indicates a higher than baseline probability of the tilting vehicle rolling over, the execution unit deactivates or interrupts the control mode.
[0007] The control method involved in this invention is a method for controlling the behavior of a tilting vehicle. The execution unit of the control device activates a control mode for performing a positional relationship adjustment action based on setting input information set by the rider of the tilting vehicle. The positional relationship adjustment action adjusts the positional relationship between the tilting vehicle and the preceding vehicle based on the surrounding environmental information of the tilting vehicle to achieve a target positional relationship. When the execution unit obtains trigger information, it switches the control mode from a first stage where the tilting vehicle stops to a second stage where the tilting vehicle starts automatically. When the control mode is activated, the execution unit obtains rollover probability information, which indicates the probability of the tilting vehicle rolling over in the second stage. If the rollover probability information indicates a higher than baseline probability of the tilting vehicle rolling over, the control mode is deactivated or interrupted.
[0008] Invention Effects In the control device and control method of the present invention, the execution unit of the control device activates a control mode for performing positional relationship adjustment actions based on setting input information set by the rider of the tilting vehicle. These positional relationship adjustment actions adjust the positional relationship between the tilting vehicle and the preceding vehicle based on information about the surrounding environment of the tilting vehicle to achieve a target positional relationship. Furthermore, upon obtaining trigger information, the execution unit transitions the control mode from a first stage where the tilting vehicle is stopped to a second stage where the tilting vehicle automatically starts moving. Additionally, while the control mode is activated, the execution unit obtains rollover probability information, which indicates the likelihood of the tilting vehicle overturning in the second stage. If the rollover probability information indicates a higher-than-base likelihood of rollover, the execution unit deactivates or interrupts the control mode. Thus, by deactivating or interrupting the control mode, the situation where the tilting vehicle automatically starts moving from a stopped state despite the possibility of rollover is reliably suppressed, thereby improving safety. Attached Figure Description
[0009] Figure 1 This is a schematic diagram illustrating the general structure of the tilting vehicle according to an embodiment of the present invention.
[0010] Figure 2 This is a block diagram illustrating an example of the functional structure of the control device according to an embodiment of the present invention.
[0011] Figure 3 This is a diagram illustrating the operation flow of the control device according to an embodiment of the present invention. Detailed Implementation
[0012] The control device and control method involved in the present invention will be described below with reference to the accompanying drawings.
[0013] Additionally, the following describes the control devices used in two-wheeled motorcycles (see reference). Figure 1 The term "tilting vehicle" refers to any vehicle that tilts when turning right and to the left when turning left. Examples of tilting vehicles include motorcycles (motorized two-wheelers, motorized tricycles), bicycles, etc. Motorcycles include vehicles powered by an engine and vehicles powered by an electric motor. Examples of motorcycles include motorized bicycles, scooters, and electric scooters. Bicycles are vehicles that are propelled by the rider's pedaling force. Examples of bicycles include regular bicycles, electric-assisted bicycles, and electric bicycles.
[0014] Furthermore, the structures and operations described below are examples, and the control devices and control methods involved in this invention are not limited to such structures and operations.
[0015] Furthermore, similar or identical descriptions will be appropriately simplified or omitted below. Additionally, in the figures, similar or identical parts or portions will be omitted or given the same reference numerals. Furthermore, details of the construction will be appropriately simplified or omitted in the illustrations.
[0016] <Structure of a tilting vehicle> Reference Figure 1 and Figure 2 The structure of the tilting vehicle 1 according to the embodiments of the present invention will be described.
[0017] Figure 1 This is a schematic diagram showing the general structure of the tilting vehicle 1. The tilting vehicle 1 is a two-wheeled motorcycle, an example of the tilting vehicle involved in this invention. The tilting vehicle 1 is as follows... Figure 1 As shown, the vehicle includes handlebars 2, a drive unit 11, a braking unit 12, a reporting device 13, a setting input device 14, an ambient environment sensor 15, an inertial measurement unit (IMU) 16, a grip force sensor 17, a steering angle sensor 18, a front wheel speed sensor 19f, a rear wheel speed sensor 19r, and a control unit (ECU) 20. The tilting vehicle 1 is a vehicle that cannot stand upright when stationary. That is, in the tilting vehicle 1 when stationary, it maintains an upright position by having the rider's feet supported on the ground. Alternatively, the tilting vehicle 1 can also be a vehicle that can stand upright when stationary.
[0018] The drive unit 11 is the drive source of the tilting vehicle 1, capable of outputting power to drive the drive wheels (specifically the rear wheels). For example, the drive unit 11 is an engine. As the drive unit 11, other drive sources besides an engine (such as an electric motor) may also be mounted, and multiple drive sources may also be mounted.
[0019] The braking device 12 functions to control the braking force generated at the wheels of the tilting vehicle 1. For example, the braking device 12 is a hydraulic control unit, including components (e.g., control valves, pumps, etc.) provided in the oil lines connecting the master cylinder and wheel cylinders for controlling the braking hydraulic pressure at the wheel cylinders. By controlling the operation of the components of the braking device 12, the braking force generated at the wheels is controlled. The braking device 12 can also be a device that separately controls the braking force generated at both the front and rear wheels, or it can be a device that only controls the braking force generated at one of the front and rear wheels. The braking device 12 can also be a control unit that controls the position of the wheel's braking component itself using electrical signals (so-called brake-by-wire).
[0020] The reporting device 13 can be a device that reports information via display (i.e., using the visual organs as sensory organs for perception), or via sound (i.e., using the auditory organs as sensory organs for perception), or via vibration (i.e., using the tactile organs as sensory organs for perception). For example, the reporting device 13 can be a display, a light, a speaker, a vibrator, etc. The reporting device 13 can also be installed on the tilting vehicle 1, or on accessories attached to the tilting vehicle 1 (e.g., a helmet, gloves, etc.). Furthermore, the reporting by the reporting device 13 can also be an action that reports information by causing the tilting vehicle 1 to momentarily decelerate or accelerate. That is, the reporting device 13 can also be composed of a braking device 12 or a drive device 11.
[0021] The setting input device 14 receives various setting inputs from the rider. The setting input device 14 may be installed on the handlebars 2, and may include buttons operated by the rider. Setting input information, which relates to the setting inputs made by the rider in the setting input device 14, is output to the control device 20. The setting input device 14 may also be installed on the leaning vehicle 1, or on accessories attached to the leaning vehicle 1 (e.g., helmet, gloves, etc.). Furthermore, the setting input device 14 may be a device operated by the rider's body (e.g., hands, feet, etc.), or it may be a device that receives sounds emitted by the rider. Furthermore, the setting input device 14 may be integrated with the reporting device 13, or it may be separate from the reporting device 13.
[0022] An ambient environment sensor 15 detects information about the surrounding environment of the tilting vehicle 1. Specifically, the ambient environment sensor 15 is located at the front of the tilting vehicle 1 and detects information about the surrounding environment in front of the tilting vehicle 1. The ambient environment information detected by the ambient environment sensor 15 is output to the control device 20. The ambient environment information detected by the ambient environment sensor 15 may be information related to the distance or orientation to a subject located around the tilting vehicle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be characteristics of the subject located around the tilting vehicle 1 (e.g., the type of subject, the shape of the subject itself, markings attached to the subject, etc.). The ambient environment sensor 15 may be, for example, a radar, lidar sensor, ultrasonic sensor, camera, etc. In addition, the ambient environment information may also be detected by ambient environment sensors or infrastructure equipment mounted on other vehicles. That is, the control device 20 may also obtain ambient environment information via wireless communication with other vehicles or infrastructure equipment.
[0023] The inertial measurement device 16 detects the three-axis accelerations (acceleration in the longitudinal direction, lateral acceleration, and acceleration in the height direction) and three-axis angular velocities (angular velocity in the roll direction, angular velocity in the pitch direction, and angular velocity in the yaw direction) generated by the tilting vehicle 1. The inertial measurement device 16 may also be a device that detects other physical quantities that can be substantially converted into the three-axis accelerations and three-axis angular velocities generated by the tilting vehicle 1. Furthermore, the inertial measurement device 16 may also be a device that only detects a portion of the three-axis accelerations and three-axis angular velocities.
[0024] A grip force sensor 17 is disposed on the handlebars 2 to detect the grip force as the force exerted by the rider gripping the handlebars 2. The grip force sensor 17 may also be a sensor that detects other physical quantities that can be substantially converted into grip force.
[0025] Steering angle sensor 18 detects the steering angle of the leaning vehicle 1. For example, steering angle sensor 18 detects the steering angle of the handlebars 2 as the steering angle of the leaning vehicle 1. The steering angle of the leaning vehicle 1 is, for example, the angle between the frontal direction of the leaning vehicle 1 and the frontal direction of the handlebars 2. Steering angle sensor 18 may also be a sensor that detects other physical quantities that can be substantially converted into the steering angle of the handlebars 2. For example, steering angle sensor 18 may also detect the angle between the frontal direction of the leaning vehicle 1 and the frontal direction of the front wheel.
[0026] The front wheel speed sensor 19f is a wheel speed sensor that detects the speed of the front wheels (e.g., the rotational speed of the front wheels per unit time [rpm] or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 19f can also be a sensor that detects other physical quantities that can be substantially converted into the speed of the front wheels. The front wheel speed sensor 19f is installed on the front wheels.
[0027] The rear wheel speed sensor 19r is a wheel speed sensor that detects the speed of the rear wheels (e.g., the rotational speed of the rear wheels per unit time [rpm] or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The rear wheel speed sensor 19r can also be a sensor that detects other physical quantities that can be substantially converted into the speed of the rear wheels. The rear wheel speed sensor 19r is installed on the rear wheels.
[0028] The control device 20 controls the behavior of the tilting vehicle 1. For example, part or all of the control device 20 may be composed of a microcomputer, a microprocessor unit, a memory, etc. Furthermore, part or all of the control device 20 may also be composed of updatable components such as firmware, or program modules executed by instructions from a CPU, etc. The control device 20 may be a single unit, or it may be divided into multiple units.
[0029] Figure 2 This is a block diagram illustrating an example of the functional structure of the control device 20. For example... Figure 2 As shown, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. Furthermore, the control device 20 communicates with various devices of the tilting vehicle 1.
[0030] The acquisition unit 21 acquires various information based on the outputs of each device on the tilting vehicle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires various information based on the outputs of the setting input device 14, the ambient environment sensor 15, the inertial measurement device 16, the grip force sensor 17, the steering angle sensor 18, the front wheel speed sensor 19f, and the rear wheel speed sensor 19r. The acquisition unit 21 may also acquire various information based on the outputs of devices not shown, as needed.
[0031] The actuator 22 executes various control modes by controlling the operation of each device of the tilting vehicle 1. For example, the actuator 22 controls the operation of the drive unit 11, the braking unit 12, and the reporting unit 13.
[0032] The rider can use the setting input device 14 to enable or disable a control mode capable of performing positional adjustment actions. These positional adjustment actions adjust the positional relationship between the tilting vehicle 1 and the preceding vehicle based on information about the surrounding environment of the tilting vehicle 1, aiming to achieve a target positional relationship. The actuator 22 switches between enabling and disabling this control mode based on the setting input information output from the setting input device 14. This positional adjustment action automatically causes the tilting vehicle 1 to decelerate or accelerate, adjusting the positional relationship (particularly the distance between vehicles, the relative distance in the front-rear direction, or the time difference between passes) between the tilting vehicle 1 and the preceding vehicle. When the control mode is enabled, the actuator 22 performs the positional adjustment action when the preceding vehicle is identified; otherwise, it does not perform the positional adjustment action but instead controls the speed of the tilting vehicle 1. When the preceding vehicle is not determined, the action to control the speed of the tilting vehicle 1 can be a cruise control action to maintain the speed of the tilting vehicle 1 at a set speed, an automatic deceleration action to decelerate the tilting vehicle 1 at a predetermined deceleration, an automatic acceleration action to accelerate the tilting vehicle 1 at a predetermined acceleration, or an action to stop the tilting vehicle 1 at a predetermined position relative to a stop line located in front of the tilting vehicle 1. In addition, the rider can disable the control mode by performing predetermined operations on devices other than the setting input device 14 (e.g., braking device 12, drive device 11, etc.) when the control mode is activated and predetermined conditions (e.g., the vehicle speed is higher than a reference condition).
[0033] For example, the positional adjustment action performed when the leading vehicle is identified is an adaptive cruise control action that sets the leading vehicle as the speed-following target. The positional adjustment action can also be an action that applies braking force to the tilting vehicle 1 in order to adjust the positional relationship between the tilting vehicle 1 and the leading vehicle to a target positional relationship corresponding to the amount of operation performed by the rider while operating the operating part of the drive unit 11 (e.g., accelerator grip, etc.). Furthermore, the positional adjustment action can also be an action that operates the drive unit 11 in order to adjust the positional relationship between the tilting vehicle 1 and the leading vehicle to a target positional relationship corresponding to the amount of operation performed by the rider while operating the operating part of the braking device 12 (e.g., brake lever, brake pedal, etc.). Additionally, the positional adjustment action can also be an action that automatically increases or decreases the braking force generated at the wheels of the tilting vehicle 1 to adjust the positional relationship between the tilting vehicle 1 and the leading vehicle in order to correct for excessive or insufficient operation of the braking device 12 by the rider. In addition, the positional relationship adjustment action can also be an action to adjust the positional relationship between the tilting vehicle 1 and the preceding vehicle by automatically increasing or decreasing the driving force generated in the tilting vehicle 1 to correct excessive or insufficient operation of the operating part of the drive device 11 by the rider.
[0034] When the control mode capable of performing positional adjustment actions is activated, the actuator 22 automatically decelerates the tilting vehicle 1, reaching the first stage of stopping the tilting vehicle 1. In the first stage, the actuator 22 controls the drive unit 11 and / or the braking unit 12 to maintain the tilting vehicle 1 at a stop. The actuator 22 may also control, for example, a clutch device, a transmission device, etc. (not shown).
[0035] For example, when the control mode is activated, the actuator 22 adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle by means of a positional relationship adjustment action, and then stops the tilting vehicle 1. Alternatively, when the control mode is activated and the preceding vehicle has stopped, the actuator 22 automatically decelerates the tilting vehicle 1, stopping it at a predetermined position relative to the preceding vehicle. Alternatively, when the control mode is activated and the preceding vehicle has not been determined, the actuator 22 automatically decelerates the tilting vehicle 1 upon detecting a stop line, stopping it at a predetermined position relative to the stop line. Alternatively, when the control mode is activated and the actuator 22 adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle by means of a positional relationship adjustment action, and then reduces the speed of the tilting vehicle 1 to a predetermined speed, the actuator 22 automatically decelerates the tilting vehicle 1 at a predetermined deceleration without relying on surrounding environmental information, stopping the tilting vehicle 1.
[0036] For example, when the control mode is activated, after the speed of the tilting vehicle 1 is reduced to a low speed by adjusting the positional relationship between the tilting vehicle 1 and the preceding vehicle through the execution of the positional relationship adjustment action, and then the rider performs a manual operation indicating the intention to stop (e.g., pressing the button on the setting input device 14, temporarily gripping or pressing the operating part of the brake device 12, etc.), the actuator 22 adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle through the execution of the positional relationship adjustment action, and stops the tilting vehicle 1. Alternatively, when the control mode is activated, after the preceding vehicle stops, the actuator 22 stops the tilting vehicle 1 at a predetermined position relative to the preceding vehicle after the rider performs a manual operation indicating the intention to stop. Alternatively, when the control mode is activated and the preceding vehicle is not determined, the actuator 22 detects a stop line and then stops the tilting vehicle 1 at a predetermined position relative to the stop line after the rider performs a manual operation indicating the intention to stop. Alternatively, when the control mode is activated, the actuator 22, while adjusting the positional relationship between the tilting vehicle 1 and the preceding vehicle by means of the positional relationship adjustment action, reduces the speed of the tilting vehicle 1 to a predetermined speed, and then, in the case of a rider's manual operation indicating an intention to stop, automatically decelerates the tilting vehicle 1 to a predetermined deceleration without relying on surrounding environmental information, thereby stopping the tilting vehicle 1.
[0037] When the control mode capable of performing positional adjustment actions is activated, and trigger information is obtained, the actuator 22 transitions from the first stage of stopping the tilted vehicle 1 to the second stage of automatically starting the tilted vehicle 1. For example, the trigger information indicates that a preceding vehicle has started. This information may also be obtained based on ambient information detected by the ambient environment sensor 15, or it may be obtained based on ambient information detected by other vehicles or infrastructure equipment. Alternatively, the trigger information may indicate that a rider has performed a manual operation indicating an intention to start. The manual operation may also be an operation of the drive unit 11 by the rider; in this case, the trigger information is obtained based on the output of sensors used to detect the operating status information of the drive unit 11's operating unit (e.g., sensors detecting the amount of rotation of the accelerator grip, sensors detecting the throttle opening, sensors detecting engine speed, etc.). Alternatively, the manual operation may be an operation by the rider pressing a button on the setting input device 14; in this case, the trigger information is obtained based on the operating status information output from the setting input device 14. That is, the trigger information can be obtained based on at least one of the surrounding environment information of the tilting vehicle 1 and the operating status information of the tilting vehicle 1 operated by the rider.
[0038] For example, if the execution unit 22 obtains trigger information while the control mode is activated, it adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle by means of the positional relationship adjustment action, and then automatically starts the tilting vehicle 1. Alternatively, if the execution unit 22 obtains trigger information while the control mode is activated, it starts the tilting vehicle 1 automatically with a predetermined acceleration without relying on surrounding environmental information, and after the speed of the tilting vehicle 1 increases to a predetermined speed, it begins the positional relationship adjustment action.
[0039] Here, when the control mode capable of performing positional adjustment actions is activated, the execution unit 22 acquires rollover probability information, which indicates the likelihood of rollover occurring in the tilting vehicle 1 during the second stage. If the rollover probability information indicates a higher-than-base-based rollover probability for the tilting vehicle 1, the control mode is deactivated or interrupted. If the rollover probability information indicates a lower-than-base-based rollover probability for the tilting vehicle 1, the control mode continues as activated. The rollover probability information is acquired in the preceding stage of the second stage. That is, the rollover probability information indicates the likelihood of the tilting vehicle 1 rolling over if the stopped tilting vehicle 1 is automatically started.
[0040] For example, the rollover probability information is obtained based on the vehicle body posture information of the tilted vehicle 1. The vehicle body posture information is information related to the vehicle body posture of the tilted vehicle 1, and may include, for example, information about the tilted state of the tilted vehicle 1.
[0041] Specifically, the acquisition unit 21 can acquire rollover state information based on the roll angle information of the tilting vehicle 1. The roll angle information is information related to the roll angle of the tilting vehicle 1, such as information representing the value of the roll angle, coarse information expressing the degree of the roll angle in several levels, information representing the value of the rate of change of the roll angle, coarse information expressing the degree of the rate of change of the roll angle in several levels, or information that can be substantially converted into this information. For example, the acquisition unit 21 can acquire the roll angle information based on the detection results of the inertial measurement device 16. Alternatively, the acquisition unit 21 can also acquire the roll angle information by performing image processing on an image of the road surface obtained by a camera mounted on the tilting vehicle 1. The execution unit 22 determines that the rollover probability is lower than the reference if the roll angle and / or its rate of change is smaller than the reference, and determines that the rollover probability is higher than the reference if the roll angle and / or its rate of change is larger than the reference. Alternatively, if the roll angle is greater than the reference angle but the reference time does not exceed the reference time, the actuator 22 determines that the probability of rollover is lower than the reference; if the roll angle is greater than the reference angle but the reference time exceeds the reference time, the actuator 22 determines that the probability of rollover is higher than the reference.
[0042] Specifically, the acquisition unit 21 can acquire tilting state information based on the lateral acceleration information of the tilting vehicle 1. Lateral acceleration information is information related to the lateral acceleration of the tilting vehicle 1, such as information representing the value of the lateral acceleration, rough information expressing the degree of lateral acceleration in several levels, or information that can be substantially converted into such information. For example, the acquisition unit 21 can acquire lateral acceleration information based on the detection results of the inertial measurement device 16. Alternatively, the acquisition unit 21 can also acquire lateral acceleration information by performing image processing on an image of the road surface obtained by a camera mounted on the tilting vehicle 1. The execution unit 22 determines that the probability of tilting is lower than the reference when the lateral acceleration is lower than the reference, and determines that the probability of tilting is higher than the reference when the lateral acceleration is higher than the reference.
[0043] Specifically, the acquisition unit 21 can acquire tilting state information based on the steering angle information of the tilting vehicle 1. The steering angle information is information related to the steering angle of the tilting vehicle 1, such as information representing the value of the steering angle, coarse information expressing the degree of the steering angle in several levels, information representing the value of the rate of change of the steering angle, coarse information expressing the degree of the rate of change of the steering angle in several levels, or information that can be substantially converted into this information. For example, the acquisition unit 21 can acquire the steering angle information based on the detection result of the steering angle sensor 18. The execution unit 22 determines that the likelihood of rollover is lower than the reference if the steering angle and / or its rate of change is smaller than the reference, and determines that the likelihood of rollover is higher than the reference if the steering angle and / or its rate of change is larger than the reference. Alternatively, the execution unit 22 determines that the likelihood of rollover is lower than the reference if the state of a steering angle larger than the reference does not exceed a reference time, and determines that the likelihood of rollover is higher than the reference if the state of a steering angle larger than the reference exceeds a reference time.
[0044] For example, the rollover probability information is obtained based on the vehicle body posture information of the tilted vehicle 1. The vehicle body posture information is information related to the vehicle body posture of the tilted vehicle 1, and may include, for example, the steering angle information of the tilted vehicle 1. That is, in the above, an example of using steering angle information to obtain rollover state information has been described. However, there are also cases where, when the tilted vehicle 1 stops, although the tilted vehicle 1 does not roll over in the lateral tilting direction, the steering angle increases to some extent. Therefore, the acquisition unit 21 may not be used to obtain rollover state information, but rather to obtain the steering angle information as vehicle body posture information.
[0045] For example, the rollover probability information is obtained based on the vehicle body posture information of the tilted vehicle 1. The vehicle body posture information is information related to the vehicle body posture of the tilted vehicle 1, and may include, for example, the kickstand status information of the tilted vehicle 1. The kickstand status information is information related to the kickstand of the tilted vehicle 1, such as whether the kickstand is erected, the kickstand's rotation angle, a rough estimate of the degree of rotation angle expressed in several levels, or information that can be substantially converted into this information. For example, the acquisition unit 21 can acquire the kickstand information based on the detection results of a sensor (not shown) that detects the kickstand's status. The execution unit 22 determines that the rollover probability is lower than a reference when the kickstand is stowed, and that the rollover probability is higher than a reference when the kickstand is erected. Alternatively, the execution unit 22 determines that the rollover probability is lower than a reference when the kickstand's rotation angle is smaller than a reference, and that the rollover probability is higher than a reference when the kickstand's rotation angle is larger than a reference.
[0046] Specifically, the acquisition unit 21 acquires the steering angle information of the tilted vehicle 1 as vehicle posture information when the tilted vehicle 1 is not tilting in the lateral direction. For example, the acquisition unit 21 can acquire the steering angle information based on the detection result of the steering angle sensor 18. The execution unit 22 determines that the probability of rollover is lower than the reference when the steering angle and / or its rate of change is smaller than the reference, and determines that the probability of rollover is higher than the reference when the steering angle and / or its rate of change is larger than the reference. Alternatively, the execution unit 22 determines that the probability of rollover is lower than the reference when the state of the steering angle being larger than the reference does not exceed the reference time, and determines that the probability of rollover is higher than the reference when the state of the steering angle being larger than the reference exceeds the reference time.
[0047] For example, the tipping probability information is obtained based on the riding status information of the rider of the tilting vehicle 1. The riding status information is information related to the riding status of the rider of the tilting vehicle 1, and may include, for example, the gripping status information of the handlebars 2 of the tilting vehicle 1 held by the rider of the tilting vehicle 1.
[0048] Specifically, the gripping status information is information related to the gripping status of the handlebars 2 of the leaning vehicle 1 held by the rider. This includes information such as the value of the gripping force applied by the rider to the handlebars 2, a rough estimate of the gripping force expressed in several levels, information indicating whether the rider is holding the handlebars 2, or information that can be substantially converted into these values. For example, the acquisition unit 21 can acquire the gripping status information based on the detection results of the gripping force sensor 17. For example, the execution unit 22 determines that the probability of tipping over is higher than a reference if the rider is not holding the handlebars 2. Alternatively, the execution unit 22 determines that the probability of tipping over is lower than a reference if the gripping force applied by the rider to the handlebars 2 is greater than a reference, and determines that the probability of tipping over is higher than a reference if the gripping force applied by the rider to the handlebars 2 is less than a reference.
[0049] For example, the tipping probability information is obtained based on the riding status information of the rider of the tilted vehicle 1. The riding status information is information related to the riding status of the rider of the tilted vehicle 1, and may include, for example, the posture information of the rider of the tilted vehicle 1.
[0050] Specifically, posture information is information related to the rider's posture, such as information indicating the direction of the rider's head. The acquisition unit 21 can acquire posture information using various sensors. For example, the acquisition unit 21 can also acquire posture information based on the detection results of cameras mounted on the tilting vehicle 1 that capture images of various parts of the rider. Furthermore, for example, the acquisition unit 21 can also acquire posture information related to the rider's head posture (e.g., information indicating the direction of the rider's head) based on the detection results of an inertial measurement unit mounted on the rider's helmet. Additionally, for example, the acquisition unit 21 can also acquire posture information based on the detection results of sensors mounted on the tilting vehicle 1 that can detect contact with various parts of the rider (e.g., seating sensors). For example, if the angle between the frontal direction of the tilting vehicle 1 and the direction of the rider's head is smaller than a reference, the execution unit 22 determines that the probability of tipping over is lower than the reference; if the angle between the frontal direction of the tilting vehicle 1 and the direction of the rider's head is larger than the reference, the execution unit 22 determines that the probability of tipping over is higher than the reference.
[0051] The above illustrates various examples of information that could be overturned. Information that could be overturned can also be information other than those given in the examples above. Furthermore, multiple pieces of information can be used together as information that could be overturned. For example, multiple pieces of information arbitrarily selected from the examples given above can also be used as information that could be overturned.
[0052] Preferably, when the control mode capable of performing the positional relationship adjustment action is activated and the control mode is in the first stage, i.e., before the trigger information is obtained, if the rollover probability information obtained at or before the time point, i.e., the rollover probability information indicating the possibility of rollover occurring in the tilting vehicle 1 in the second stage, indicates that the tilting vehicle 1 has a rollover probability higher than the reference, the control mode is deactivated or interrupted; if the rollover probability information indicates that the tilting vehicle 1 has a rollover probability lower than the reference, the control mode continues as it was activated.
[0053] Alternatively, when the control mode capable of performing positional relationship adjustment is activated and trigger information is obtained, if the rollover probability information obtained at or before that time, i.e., the rollover probability information indicating the possibility of rollover occurring in the tilting vehicle 1 in the second stage, indicates that the tilting vehicle 1 has a rollover probability higher than the reference, the control mode is deactivated or interrupted; if the rollover probability information indicates that the tilting vehicle 1 has a rollover probability lower than the reference, the control mode continues as it was activated.
[0054] Furthermore, preferably, if the rollover probability information, which indicates the likelihood of a rollover occurring in the tilting vehicle 1 during the second stage, is information indicating a higher than reference probability of a rollover, the actuator 22 will interrupt the control mode capable of performing positional adjustment actions. In this case, the actuator 22 can determine the restart point of the interrupted control mode based on the output of sensors (e.g., sensors detecting the rotation amount of the accelerator grip, sensors detecting the throttle opening, sensors detecting engine torque, etc.) used to detect the operating status information of the operating unit of the tilting vehicle 11 operated by the rider. For example, the actuator 22 will restart the interrupted control mode if the operation of the operating unit of the tilting vehicle 11 operated by the rider is released. Alternatively, the actuator 22 will restart the interrupted control mode if the operation amount of the operating unit of the tilting vehicle 11 operated by the rider becomes less than a reference. The reference for interruption and the reference for restart can be the same, or they can be different. Alternatively, if the operating unit of the drive unit 11 of the tilting vehicle 1 is an accelerator grip that increases the output of the drive unit 11 when rotated in the first direction from the initial position where the output of the drive unit 11 is at its lowest, and can also be rotated in the second direction from that initial position, the actuator 22 can restart the interrupted control mode when the rider performs the rotation operation of the accelerator grip from the initial position to the second direction. The actuator 22 can resume the set state before the control mode was interrupted upon restarting. In particular, the trigger information for switching the control mode from the first stage to the second stage can be obtained based on the output of a sensor for detecting the operating state information of the operating unit of the drive unit 11. That is, when the control mode capable of performing positional adjustment actions is activated and the tilting vehicle 1 is stopped, although the rider operates the operating unit of the drive unit 11 or operates the operating unit of the drive unit 11 by a greater amount than the reference, allowing a transition from the first stage to the second stage, if the rollover probability information, which indicates the possibility of rollover occurring in the tilting vehicle 1 in the second stage, indicates a rollover probability higher than the reference, the control mode is interrupted, and the tilting vehicle 1 starts moving manually by the rider. Then, by operating the operating unit of the drive unit 11 to the predetermined state by the rider, the control mode is restarted, and the permission to transition from the first stage to the second stage before the interruption is resumed, thereby the actuator 22 automatically continues the starting of the tilting vehicle 1.
[0055] Furthermore, preferably, when the rollover probability information, which indicates the likelihood of a rollover occurring in the tilted vehicle 1 during the second stage, is information indicating a rollover probability higher than a reference, the execution unit 22 can cause the reporting device 13 to output information to the rider indicating the cancellation or interruption of the control mode. That is, when the rollover probability information indicates a rollover probability higher than a reference, the execution unit 22 outputs a control command to the reporting device 13 simultaneously with, before, or after automatically canceling or interrupting the control mode. The reference for canceling or interrupting the control mode and the reference for reporting can be the same, or they can be different.
[0056] Alternatively, the execution unit 22 may, when the rollover probability information—that is, information indicating the probability of rollover occurring in the tilted vehicle 1 during the second stage—indicates a rollover probability higher than a reference, cause the reporting device 13 to output a message urging the rider to deactivate or interrupt the control mode. That is, when the rollover probability information indicates a rollover probability higher than a reference for the tilted vehicle 1, the execution unit 22 outputs a control command to the reporting device 13, urging the rider to perform an operation to deactivate or interrupt the control mode; if the operation is detected based on the output of the setting input device 14, i.e., the setting input information, then the control mode is deactivated or interrupted.
[0057] <Action of the control device> Reference Figure 3 The operation of the control device 20 according to the embodiments of the present invention will be described. Figure 3 This is a diagram showing the operation flow of the control device 20.
[0058] Control device 20 performs the following actions during the movement of tilted vehicle 1: Figure 3 The action flow is shown.
[0059] (Steps to obtain) In step S101, the acquisition unit 21 acquires various information based on the output of each device of the tilting vehicle 1 and outputs it to the execution unit 22.
[0060] (Execution steps) In step S102, the execution unit 22 executes various control modes by controlling the operation of each device of the tilting vehicle 1. Based on setting input information set by the rider of the tilting vehicle 1, the execution unit 22 activates a control mode that performs a positional relationship adjustment action. This positional relationship adjustment action adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle based on information about the surrounding environment of the tilting vehicle 1 to achieve a target positional relationship. Upon receiving trigger information, the execution unit 22 transitions the control mode from a first stage where the tilting vehicle 1 stops to a second stage where the tilting vehicle 1 starts automatically. While the control mode is activated, the execution unit 22 obtains rollover probability information, which indicates the likelihood of a rollover occurring in the tilting vehicle 1 during the second stage. If this rollover probability information indicates a higher-than-base probability of a rollover, the execution unit 22 deactivates or interrupts the control mode.
[0061] <Effects of the control device> The effects of the control device 20 according to the embodiments of the present invention will be explained.
[0062] The execution unit 22 of the control device 20 activates a control mode that performs a positional adjustment action based on setting input information set by the rider of the tilting vehicle 1. This positional adjustment action adjusts the positional relationship between the tilting vehicle 1 and the preceding vehicle based on information about the surrounding environment of the tilting vehicle 1 to achieve a target positional relationship. Furthermore, upon receiving trigger information, the execution unit 22 transitions the control mode from a first stage where the tilting vehicle 1 is stopped to a second stage where the tilting vehicle 1 automatically starts moving. Additionally, while the control mode is activated, the execution unit 22 acquires rollover probability information, which indicates the likelihood of the tilting vehicle 1 overturning in the second stage. If the rollover probability information indicates a higher-than-base probability of the tilting vehicle 1 overturning, the execution unit 22 deactivates or interrupts the control mode. Thus, by deactivating or interrupting the control mode, situations where the tilting vehicle 1 automatically starts moving from a stopped state despite the possibility of rollover are reliably suppressed, improving safety.
[0063] The embodiments have been described above, but only a portion of the embodiments may be implemented, or portions of the embodiments may be combined with each other, or portions of the embodiments may be modified into different forms. That is, the present invention is not limited to the description of the embodiments.
[0064] For example, in the described embodiment, rollover probability information, which indicates the likelihood of rollover occurring in the tilting vehicle 1 during the second stage, is obtained in the stage preceding the second stage, but this rollover probability information may also be obtained in the second stage. That is, the rollover probability information may also be information indicating the likelihood of rollover occurring in the tilting vehicle 1, which has automatically started.
[0065] For example, in the described embodiment, the control mode may be deactivated or interrupted at a point before or after the trigger information is obtained, but it may also be deactivated or interrupted after the trigger information is obtained. In such cases, the rollover probability information, which indicates the probability of rollover occurring in the tilting vehicle 1 during the second stage, may be obtained in the stage before the second stage, or it may be obtained during the second stage.
[0066] Explanation of reference numerals in the attached figures 1. Tilt vehicle; 2. Handlebars; 11. Drive unit; 12. Braking unit; 13. Reporting device; 14. Setting input device; 15. Ambient environment sensor; 16. Inertial measurement unit; 17. Handle force sensor; 18. Steering angle sensor; 19f. Front wheel speed sensor; 19r. Rear wheel speed sensor; 20. Control unit; 21. Acquisition unit; 22. Execution unit.
Claims
1. A control device (20) for controlling the behavior of a tilting vehicle (1), characterized in that, The device is equipped with an execution unit (22), which enables the control mode of performing position relationship adjustment actions based on the setting input information set by the rider of the tilting vehicle (1). The position relationship adjustment actions adjust the position relationship between the tilting vehicle (1) and the preceding vehicle based on the surrounding environment information of the tilting vehicle (1) to achieve the target position relationship. Upon receiving the trigger information, the aforementioned execution unit (22) shifts the aforementioned control mode from the first stage, in which the aforementioned tilting vehicle (1) stops, to the second stage, in which the tilting vehicle (1) starts automatically. When the aforementioned execution unit (22) is in the state where the aforementioned control mode is activated, it obtains rollover probability information as information indicating the possibility of rollover occurring in the aforementioned tilted vehicle (1) in the aforementioned second stage. If the rollover probability information indicates that the possibility of rollover occurring in the tilted vehicle (1) is higher than the baseline, the control mode is deactivated or interrupted.
2. The control device as described in claim 1, characterized in that, When the aforementioned execution unit (22) indicates that the aforementioned overturning possibility information is information indicating that the aforementioned tilted vehicle (1) has an overturning possibility higher than the baseline, the aforementioned reporting device outputs information to report to the aforementioned rider or urge the aforementioned control mode to be released or interrupted.
3. The control device as described in claim 1, characterized in that, When the aforementioned execution unit (22) indicates that the aforementioned overturning possibility information is information indicating that the aforementioned tilted vehicle (1) has an overturning possibility higher than the aforementioned benchmark, it interrupts the aforementioned control mode and determines the restart time of the interrupted control mode based on the operation status information of the operation unit of the drive device (11) of the tilted vehicle (1) operated by the aforementioned rider.
4. The control device as described in claim 3, characterized in that, The aforementioned triggering information is obtained based on the aforementioned operation status information.
5. The control device as described in claim 1, characterized in that, The aforementioned triggering information is obtained based on at least one of the aforementioned surrounding environment information and the operational status information of the aforementioned tilting vehicle (1) operated by the aforementioned rider.
6. The control device as described in any one of claims 1 to 5, characterized in that, The aforementioned information on the likelihood of overturning is obtained based on the vehicle posture information of the aforementioned tilted vehicle (1).
7. The control device as described in claim 6, characterized in that, The aforementioned vehicle posture information includes the tilting state information of the aforementioned tilted vehicle (1).
8. The control device as described in claim 7, characterized in that, The aforementioned tilting state information is obtained based on the tilt angle information of the aforementioned tilted vehicle (1).
9. The control device as described in claim 7, characterized in that, The aforementioned tilting state information is obtained based on the lateral acceleration information of the aforementioned tilted vehicle (1).
10. The control device as claimed in claim 7, characterized in that, The aforementioned tilting state information is obtained based on the steering angle information of the aforementioned tilted vehicle (1).
11. The control device as claimed in claim 6, characterized in that, The aforementioned vehicle posture information includes the steering angle information of the aforementioned tilted vehicle (1).
12. The control device according to any one of claims 1 to 5, characterized in that, The aforementioned information on the likelihood of tipping over was obtained based on the aforementioned information on the rider's riding status.
13. The control device as described in claim 12, characterized in that, The aforementioned riding status information includes the gripping status information of the handlebars (2) of the aforementioned tilted vehicle (1) held by the aforementioned rider.
14. The control device as described in claim 12, characterized in that, The aforementioned riding status information includes the rider's posture information.
15. A control method for controlling the behavior of a tilting vehicle (1), characterized in that, The execution unit (22) of the control device (20) enables the control mode of performing position relationship adjustment action based on the setting input information set by the rider of the tilting vehicle (1). The position relationship adjustment action adjusts the position relationship between the tilting vehicle (1) and the preceding vehicle based on the surrounding environment information of the aforementioned tilting vehicle (1) to achieve the target position relationship. Upon receiving the trigger information, the aforementioned execution unit (22) shifts the aforementioned control mode from the first stage, in which the aforementioned tilting vehicle (1) stops, to the second stage, in which the tilting vehicle (1) starts automatically. When the aforementioned execution unit (22) is in the state where the aforementioned control mode is activated, it obtains rollover probability information as information indicating the possibility of rollover occurring in the aforementioned tilted vehicle (1) in the aforementioned second stage. If the rollover probability information indicates that the possibility of rollover occurring in the tilted vehicle (1) is higher than the baseline, the control mode is deactivated or interrupted.