Processing device and processing method mounted on a tilting vehicle

Abstract

An object is to provide a processing device in which the accuracy of speed information can be improved. Further, an object is to provide a processing method in which the accuracy of speed information can be improved. A processing device (20) mounted on a tilting vehicle (100) includes an acquisition unit that acquires speed information that is information on a vehicle speed and / or a wheel speed of the tilting vehicle (100); an acquisition unit acquires positional relationship information of the tilting vehicle (100) and an object that is stationary around the tilting vehicle (100) based on an output of a surrounding environment sensor (11) mounted on the tilting vehicle (100); and acquires the speed information based on the positional relationship information.

Description

Technical Field

[0001] The present invention relates to a processing device mounted on a tilting vehicle and a processing method performed by such a processing device. Background Technology

[0002] As a conventional processing device, there is a device that has a speed information acquisition unit that acquires information about the vehicle speed and / or wheel speed of the tilting vehicle (for example, see Patent Document 1).

[0003] Existing technical documents Patent documents Patent document 1: International Publication No. 2014 / 069102. Summary of the Invention

[0004] The problem that the invention aims to solve In conventional processing devices, there were instances where speed information could not be obtained with sufficient accuracy.

[0005] The present invention was made in response to the aforementioned problems, and provides a solution for a processing apparatus that improves the accuracy of obtaining speed information. Furthermore, it provides a solution for a processing method that improves the accuracy of obtaining speed information.

[0006] Methods used to solve problems The processing apparatus described in this invention is a processing apparatus mounted on a tilting vehicle, comprising a speed information acquisition unit that acquires information on the vehicle speed and / or wheel speed of the tilting vehicle; the acquisition unit acquires positional relationship information between the tilting vehicle and stationary objects around the tilting vehicle based on the output of an ambient environment sensor mounted on the tilting vehicle; and acquires the speed information based on the positional relationship information.

[0007] The processing method described in this invention is executed by a processing device mounted on a tilting vehicle. The acquisition unit of the aforementioned processing device acquires information about the vehicle speed and / or wheel speed of the tilting vehicle, i.e., speed information. Based on the output of the surrounding environment sensor mounted on the tilting vehicle, the acquisition unit acquires positional relationship information between the tilting vehicle and stationary objects around the tilting vehicle. Based on the aforementioned positional relationship information, the aforementioned speed information is acquired.

[0008] Invention Effects In the processing apparatus and method described in this invention, the acquisition unit acquires positional relationship information between the tilting vehicle and stationary objects around the tilting vehicle based on the output of an ambient sensor mounted on the tilting vehicle, and acquires speed information based on the positional relationship information. Therefore, the accuracy of the speed information can be improved. Attached Figure Description

[0009] Figure 1This diagram illustrates the riding assistance system of the embodiment of the present invention mounted on a tilted vehicle.

[0010] Figure 2 This is a diagram illustrating the system structure of the rider assistance system according to an embodiment of the present invention.

[0011] Figure 3 This is a diagram illustrating the structure of the rider assistance system according to an embodiment of the present invention.

[0012] Figure 4 This is a diagram illustrating the structure of the rider assistance system according to an embodiment of the present invention.

[0013] Figure 5 This is a diagram illustrating the operation flow of the processing device of the rider assistance system according to an embodiment of the present invention. Detailed Implementation

[0014] The processing apparatus and processing method of the present invention will be described below with reference to the accompanying drawings.

[0015] Furthermore, the structures and operations described below are examples, and the processing apparatus and processing method described in this invention are not limited to such structures and operations.

[0016] For example, the following describes the application of the processing apparatus and method described in this invention to a two-wheeled motorcycle, but the processing apparatus and method described in this invention can also be applied to other tilting vehicles besides two-wheeled motorcycles. A tilting vehicle refers to all vehicles that travel in a tilted state towards the turning direction when turning. That is, in a tilting vehicle, the vehicle body tilts to the right when turning to the right and to the left when turning to the left. Tilting vehicles include, for example, two-wheeled motorcycles, three-wheeled motorcycles, and bicycles. Motorcycles include, for example, vehicles that use an engine as a propulsion source and vehicles that use an electric motor as a propulsion source, such as motorized bicycles, scooters, and electric scooters. Furthermore, a bicycle refers to all means of transportation that can be propelled on a road by the pedal force applied by the rider. Bicycles include, for example, ordinary bicycles, electric-assisted bicycles, and electric bicycles.

[0017] Furthermore, similar or identical descriptions will be appropriately simplified or omitted below. Additionally, in the figures, the same or similar reference numerals will be assigned to the same or similar parts, or reference numerals will be omitted. Furthermore, details regarding construction will be appropriately simplified or omitted in the illustrations.

[0018] Implementation method. The rider assistance system described below is an example of an implementation method.

[0019] <Structure of Rider Assist Systems> The structure of the rider assistance system described in the embodiment will be explained.

[0020] Figure 1 This diagram illustrates the riding assistance system of the embodiment of the present invention mounted on a tilted vehicle. Figure 2 This is a diagram illustrating the system structure of the rider assistance system according to an embodiment of the present invention. Figure 3 and Figure 4 This is a diagram illustrating the structure of the rider assistance system according to an embodiment of the present invention. Additionally, in Figure 3 and Figure 4 The image shows the state of wheel 101 viewed from the front.

[0021] like Figure 1 and Figure 2 As shown, the rider assistance system 1 is mounted on the tilting vehicle 100. The rider assistance system 1 may include, for example, an ambient environment sensor 11, a rotational speed sensor 12, an inertial sensor 13, a position sensor 14, a setting input device 15, a processing unit (ECU) 20, a braking device 30, a drive unit 40, and a reporting device 50, as needed.

[0022] In the rider assistance system 1, the processing unit 20 uses the outputs of the ambient environment sensor 11, the rotational speed sensor 12, the inertial sensor 13, the position sensor 14, and the setting input device 15 to execute control actions to assist the rider tilting the vehicle 100. The processing unit 20 outputs control commands to various devices (e.g., the braking device 30, the drive unit 40, the reporting device 50, etc.) and executes control actions. The processing unit 20 accepts outputs from various sensors (e.g., sensors for detecting the operating status information of the brake device 30 based on the rider, sensors for detecting the operating status information of the drive unit 40 based on the rider, etc.) as needed to detect other information. The components of the rider assistance system 1 can be dedicated to the rider assistance system 1 or can be components shared with other systems.

[0023] The rider assistance system 1 includes at least one ambient environment sensor 11 that detects information about the surrounding environment in front of the tilted vehicle 100. The ambient environment sensor 11 may also be a sensor that detects information about the surrounding environment behind the tilted vehicle 100, or a sensor that detects information about the surrounding environment to the left of the tilted vehicle 100, or a sensor that detects information about the surrounding environment to the right of the tilted vehicle 100. The rider assistance system 1 may include multiple ambient environment sensors 11 with different detection ranges. The ambient environment sensors 11 may be, for example, radar, lidar sensors, ultrasonic sensors, cameras, etc.

[0024] Rotational speed sensor 12 detects the rotational speed of the wheels 101 of the tilting vehicle 100. The rotational speed can be revolutions per unit time or rotational angle per unit time. The rider assistance system 1 may have both a rotational speed sensor 12 that detects the rotational speed of the front wheel 101A of the tilting vehicle 100 and a rotational speed sensor 12 that detects the rotational speed of the rear wheel 101B of the tilting vehicle 100, or may have only one of them. Rotational speed sensor 12 may also be a sensor that detects other physical quantities that can be substantially converted into the rotational speed of the wheels 101.

[0025] Inertial sensor 13 detects the acceleration in three axes (forward / backward, width, and height) and the angular velocities in three axes (tilt, pitch, and yaw) generated by the tilting vehicle 100. Inertial sensor 13 may also be a sensor that detects other physical quantities that can be substantially converted into the acceleration and angular velocities in three axes generated by the tilting vehicle 100. Furthermore, inertial sensor 13 may also be a sensor that only detects a portion of the acceleration and angular velocities in three axes.

[0026] Position sensor 14 receives positioning signals transmitted from multiple communication satellites to detect the position information of the tilted vehicle 100 in the global coordinate system. By comparing the position of the tilted vehicle 100 with map information, the position information of the tilted vehicle 100 on the map is obtained.

[0027] The setting input device 15 is operated by various setting inputs made by the rider. For example, the rider can use the setting input device 15 to switch various control actions on and off. Furthermore, the rider can use the setting input device 15 to set various modes or control parameters (e.g., thresholds, target values, etc.) used in various control actions. The setting input device 15 can be a device operated by the rider's body (e.g., hands, feet, etc.), or it can be a device that receives sounds emitted by the rider. Furthermore, the setting input device 15 can be installed on the leaning vehicle 100, or it can be installed on an accessory attached to the leaning vehicle 100 (e.g., helmet, gloves, etc.).

[0028] The processing device 20 includes at least an acquisition unit 21 and an execution unit 22. All or all parts of the processing device 20 may be centrally located in one enclosure or may be separately located in multiple enclosures. Furthermore, all or all parts of the processing device 20 may be composed of, for example, a microcomputer, a microprocessor unit, or an updatable element such as firmware, or a program module that executes by means of instructions from a CPU, etc.

[0029] The acquisition unit 21 acquires surrounding environment information of the tilting vehicle 100 based on the output of the surrounding environment sensor 11. The surrounding environment information may include positional relationship information between the tilting vehicle 100 and objects located around the tilting vehicle 100 (e.g., vehicles, obstacles, road equipment, people, animals, etc.). Positional relationship information may include, for example, information such as relative position, relative distance, relative speed, relative acceleration, relative jerk, time difference, and predicted time until collision. Positional relationship information may also be other physical quantities that can be substantially converted into these. Alternatively, the surrounding environment information may include characteristic information of objects located around the tilting vehicle 100 (e.g., vehicles, obstacles, road equipment, people, animals, etc.). Characteristic information may include, for example, information indicating the content of signs (signage information), information indicating the content of road markings (road marking information), information indicating the status of traffic lights (traffic light information), information indicating the status of congestion, construction, and / or accidents (traffic information), etc. Characteristic information may also be other physical quantities that can be substantially converted into these. In addition, road facilities include signs, road markings, traffic lights, street trees, utility poles, guardrails, curbs, and notice boards.

[0030] Furthermore, the acquisition unit 21 acquires speed information, which is information about the vehicle speed and / or wheel speed of the tilting vehicle 100. Vehicle speed is defined as the distance the vehicle body of the tilting vehicle 100 travels per unit time. Speed ​​information can also be information about other physical quantities that can be substantially converted into that distance. Wheel speed is defined as the speed at the contact point P of the wheel 101 of the tilting vehicle 100 (see below). Figure 3 , Figure 4 The distance traveled per unit time by means of the rotation of wheel 101, that is, the rotational speed of wheel 101 detected by rotational speed sensor 12 (i.e., revolutions per unit time or the value obtained by dividing the rotational angle by 360 degrees) multiplied by the ground contact portion P of wheel 101 (see below). Figure 3 , Figure 4 The value is obtained by taking the diameter of a circle and the value of pi. Velocity information can also be other physical quantities that can be substantially converted into that distance.

[0031] Here, the acquisition unit 21 acquires positional relationship information between the tilting vehicle 100 and stationary objects (e.g., obstacles, road equipment, etc.) around the tilting vehicle 100 based on the output of the surrounding environment sensor 11. Based on this positional relationship information, it acquires first speed information, which is information about the vehicle speed and / or wheel speed of the tilting vehicle 100. The positional relationship information includes relative speed information. The acquisition unit 21 can extract objects with shapes similar to those registered in advance from the surrounding environment information to determine stationary objects. Alternatively, the acquisition unit 21 can compare the position information of the tilting vehicle 100 acquired based on the output of the position sensor 14 with map information on which the positions of the road equipment have been previously input to estimate which area of ​​the detection range of the surrounding environment sensor 11 the road equipment is detected in, thereby determining stationary objects from the surrounding environment information. When acquiring the first speed information as the vehicle speed of the tilting vehicle 100, information about the wheel speed of the tilting vehicle 100 can also be acquired based on the assumption that the wheels 101 are not slipping. Furthermore, if the first speed information is obtained as information about the wheel speed of the tilting vehicle 100, information about the vehicle speed of the tilting vehicle 100 can also be obtained based on the assumption that the wheel 101 does not slip.

[0032] As an example (hereinafter referred to as "speed information acquisition example 1"), the acquisition unit 21 acquires information on the relative speed between the tilting vehicle 100 and an object stationary around the tilting vehicle 100, based on the assumption that the object being acquired, which is determined to be the acquisition target of positional relationship information, is located in a direction that is not in the forward or backward direction of the tilting vehicle 100 or deviates significantly from its direction. Alternatively, if the object being acquired, which is determined to be the acquisition target of positional relationship information, is located in a direction that is not in the forward or backward direction of the tilting vehicle 100 or deviates significantly from its direction (e.g., when the field of view of the ambient environment sensor 11 is wide, or when the object being acquired, which is determined to be the acquisition target of positional relationship information, is detected at a position away from the center of its field of view), the acquisition unit 21 acquires information on the relative speed between the tilting vehicle 100 and the object stationary around the tilting vehicle 100, correcting for any deviation, as information on the speed of the tilting vehicle 100. The acquisition unit 21 may acquire statistical values ​​based on multiple pieces of positional relationship information, and acquire information on the speed of the tilting vehicle 100 based on these statistical values. The acquisition unit 21 acquires statistical values ​​based on the outputs of the same ambient environment sensor 11 at multiple different times. Alternatively, statistical values ​​can be acquired based on the outputs of multiple ambient environment sensors 11 with different detection ranges. If the outputs of multiple ambient environment sensors 11 at the same time exceed permissible values ​​to varying degrees, the output may not be used. The statistical processing used to acquire these statistical values ​​can be a process of selecting the mode of a frequency distribution, a process of calculating the average of values ​​detected over a given period, or a process of calculating the median of time-series data that has undergone filtering (e.g., low-pass filtering). The acquisition unit 21 can perform statistical processing on positional relationship information, or it can perform statistical processing on information acquired based on positional relationship information.

[0033] As another example (hereinafter referred to as "speed information acquisition example 2"), the acquisition unit 21, based on the assumption that the tilting vehicle 100 always travels upright, acquires the shape information of the wheel 101 based on the relative speed information of the tilting vehicle 100 and objects stationary around the tilting vehicle 100, and the output of the rotation speed sensor 12. Based on this shape information and the output of the rotation speed sensor 12, it acquires the wheel speed information of the tilting vehicle 100. Figure 3As shown, when the tilting vehicle 100 is traveling upright, the relative speed between the tilting vehicle 100 and an object stationary around the tilting vehicle 100, or a value corrected in the same way as in Example 1 of speed information acquisition, is divided by the rotational speed of the wheel 101 detected by the rotational speed sensor 12 at that moment (i.e., revolutions per unit time or the value obtained by dividing the rotation angle by 360 degrees) and pi, and the resulting value is used as the diameter D of the ground contact portion P of the wheel 101. The acquisition unit 21 acquires this diameter D as the shape information of the wheel 101, for example. Alternatively, as the shape information of the wheel 101, the value obtained by multiplying the diameter D by pi can be acquired. The acquisition unit 21 can acquire statistical values ​​based on multiple positional relationship information, and acquire information about the vehicle speed of the tilting vehicle 100 based on these statistical values. The acquisition unit 21 acquires statistical values ​​based on the outputs of the same ambient environment sensor 11 at multiple different times. Furthermore, or alternatively, it acquires statistical values ​​based on the outputs of multiple ambient environment sensors 11 with different detection ranges. If the outputs of multiple ambient environment sensors 11 at the same time exceed the allowable value to varying degrees, the output may not be used. The statistical processing used to obtain the statistical value may be the processing of selecting the mode of the degree distribution, or the processing of calculating the average of the values ​​detected over a given period, or the processing of calculating the median of time series data that has been filtered (e.g., low-pass filtering). The acquisition unit 21 may perform statistical processing on positional relationship information, or it may perform statistical processing on information obtained based on positional relationship information. The acquisition unit 21 continuously acquires the diameter D and periodically updates the shape information of the wheel 101, thereby enabling the estimation of the latest shape considering the condition of the tire (e.g., air pressure, deterioration, etc.). The acquisition unit 21 obtains the wheel speed information of the tilted vehicle 100 at the current time by multiplying the most recent shape information of the wheel 101 (i.e., diameter D) by the rotational speed of the wheel 101 detected by the rotational speed sensor 12 at the current time (i.e., revolutions per unit time or the value obtained by dividing the rotational angle by 360 degrees) and pi.

[0034] As another example (hereinafter referred to as "speed information acquisition example 3"), the acquisition unit 21, based on the assumption that the tilted vehicle 100 is not always traveling upright, acquires the shape information of the wheel 101 based on information about the relative speed between the tilted vehicle 100 and objects stationary around the tilted vehicle 100, information about the tilting state of the wheel 101, and the output of the rotation speed sensor 12. Based on this shape information, the tilting state information of the wheel 101, and the output of the rotation speed sensor 12, it acquires information about the wheel speed of the tilted vehicle 100. Figure 4As shown, when the tilting vehicle 100 is turning, the relative speed between the tilting vehicle 100 and an object stationary around the tilting vehicle 100, or a value that has been corrected in the same way as in Example 1 of speed information acquisition, is divided by the rotational speed of the wheel 101 detected by the rotational speed sensor 12 at that moment (i.e., revolutions per unit time or the value obtained by dividing the rotation angle by 360 degrees) and pi. The resulting value is used as the diameter D of the ground contact portion P of the wheel 101. That is, the larger the tilt angle θ of the wheel 101, the smaller the diameter D. Therefore, the acquisition unit 21 establishes a correlation between the calculated diameter D and the tilt angle θ of the wheel 101 and acquires the data as the shape information of the wheel 101. In addition, as the shape information of the wheel 101, the value obtained by multiplying the diameter D by pi can be acquired. The acquisition unit 21 can acquire the shape information based on the statistical value obtained by performing statistical processing on multiple positional relationship information. The acquisition unit 21 acquires the statistical value based on the output of the same surrounding environment sensor 11 at multiple different times. Alternatively, statistical values ​​can be obtained based on the outputs of multiple ambient environment sensors 11 with different detection ranges. Statistical processing can be the selection of the mode of the frequency distribution, the calculation of the average value of values ​​detected over a given period, or the calculation of the median of time-series data that has been filtered (e.g., low-pass filtering). The acquisition unit 21 continuously acquires the diameter D and the tilt angle θ of the wheel 101. By periodically updating the shape information of the wheel 101, the latest shape considering the condition of the tire (e.g., air pressure, deterioration, etc.) can be estimated. Using the most recent shape information of the wheel 101, the acquisition unit 21 acquires the diameter D corresponding to the tilt angle θ of the wheel 101 acquired at the current moment. By multiplying this diameter D by the rotational speed of the wheel 101 detected by the rotational speed sensor 12 at the current moment (i.e., the number of revolutions per unit time or the value obtained by dividing the rotation angle by 360 degrees) and pi, the wheel speed information of the tilted vehicle 100 at the current moment is obtained. Furthermore, the tilting state information of wheel 101 can be obtained based on the assumption that wheel 101 tilts at the same angle as the tilted vehicle body 100, and based on the output of inertial sensor 13 (e.g., the value obtained by integrating the angular velocity in the roll direction of the vehicle body, the angular velocity in the yaw direction of the vehicle body, the acceleration in the width direction of the vehicle body, etc.). Alternatively, if wheel 101 is a front wheel 101A, the tilting state information of wheel 101 can be obtained as a value obtained based on the output of inertial sensor 13, after correcting for the change in the steering angle of the tilted vehicle 100.

[0035] The execution unit 22 executes control actions to assist the rider of the tilting vehicle 100 based on the first speed information. Additionally, the acquisition unit 21 can acquire second speed information, which is information about the speed of the tilting vehicle 100 and / or the wheel speed, based on the output of the rotation speed sensor 12. The execution unit 22 executes control actions to assist the rider of the tilting vehicle 100 based on the first and second speed information. The acquisition unit 21 acquires the second speed information by multiplying the rotational speed of the wheel 101 detected by the rotation speed sensor 12 (i.e., revolutions per unit time or the value obtained by dividing the rotation angle by 360 degrees) by the initially registered outer diameter of the wheel 101, based on the assumption that the tilting vehicle 100 always travels upright. That is, the acquisition unit 21 acquires the second speed information without relying on information about the positional relationship between the tilting vehicle 100 and stationary objects around the tilting vehicle 100, or information about the tilting state of the wheel 101. The second speed information is obtained as the wheel speed information of the tilting vehicle 100, but based on the assumption that the wheel 101 does not slip, it can also be obtained as the vehicle speed information of the tilting vehicle 100.

[0036] When the control action used to assist the rider of the tilting vehicle 100 is activated, the actuator 22 executes a speed control action on the tilting vehicle 100 as needed, at least based on the first speed information. During the execution of the speed control action, the actuator 22 outputs control commands to the braking device 30 and / or the drive device 40. The braking device 30 brakes the tilting vehicle 100. The drive device 40 drives the tilting vehicle 100 as a power source. The braking device 30 can be controlled to generate or increase deceleration, or it can be controlled to generate or increase acceleration. The drive device 40 can be controlled to generate or increase acceleration, or it can be controlled to generate or increase deceleration. This speed control action can be an anti-lock braking control action that controls the deceleration generated by the tilting vehicle 100 to prevent wheel lock-up. Alternatively, this speed control action can be a slip control action that controls the acceleration or deceleration generated by the tilting vehicle 100 to prevent wheel slippage. Alternatively, the speed control action can be a hill-holding control action that automatically maintains the braking force of the wheels 101 to keep the tilted vehicle 100 at a stop when it is parked on an uphill or downhill slope. Alternatively, the speed control action can be a hill-descent control action that automatically adjusts the braking force of the wheels 101 to keep the tilted vehicle 100 traveling at a constant speed when it is traveling downhill. Alternatively, the speed control action can be a cruise control action that keeps the tilted vehicle 100 traveling at a set speed. Alternatively, the speed control action can be an adaptive cruise control action that keeps the tilted vehicle 100 traveling at a set speed when no preceding vehicle is detected by the ambient environment sensor 11, and performs a positional relationship adjustment action to adjust the positional relationship relative to the preceding vehicle to a target positional relationship at a speed not exceeding the set speed when a preceding vehicle is detected by the ambient environment sensor 11. Alternatively, the speed control action can be a positional relationship adjustment action performed only when the ambient environment sensor 11 detects a leading vehicle that is being followed, while the rider is operating the drive unit 40, to adjust the positional relationship relative to the leading vehicle to a target positional relationship. Alternatively, the speed control action can be a positional relationship adjustment action performed only when the ambient environment sensor 11 detects a leading vehicle that is being followed, while the rider is operating the brake unit 30, to adjust the positional relationship relative to the leading vehicle to a target positional relationship. Furthermore, the object of the positional relationship adjustment action can be a road marking (e.g., a stop line).

[0037] Alternatively, when the control action used to assist the rider of the tilting vehicle 100 is effective, the actuator 22 outputs a control command to the reporting device 50 as needed, at least based on the first speed information. The reporting device 50 may be a device that reports information via display (i.e., using visual organs as sensory organs), or via sound (i.e., using auditory organs as sensory organs), or via vibration (i.e., using tactile organs as sensory organs). For example, the reporting device 50 may be a display, a light, a speaker, a vibrator, etc. The reporting device 50 may be installed on the tilting vehicle 100, or it may be installed on an accessory attached to the tilting vehicle 100 (e.g., a helmet, gloves, etc.). Furthermore, the reporting action may be to report a warning or information by causing the tilting vehicle 100 to momentarily decelerate or accelerate. That is, the reporting device 50 may be composed of a braking device 30 or a drive device 40.

[0038] As an example, the execution unit 22 outputs control commands to the reporting device 50 to report to the rider the speed information of the tilting vehicle 100 obtained from speed information acquisition example 1, speed information acquisition example 2, or speed information acquisition example 3. Alternatively, the execution unit 22 outputs control commands to the braking device 30 and / or the drive device 40 to perform speed control actions on the tilting vehicle 100 based on the speed information of the tilting vehicle 100 obtained from speed information acquisition example 1, speed information acquisition example 2, or speed information acquisition example 3.

[0039] As another example, in control actions used to assist the rider, the actuator 22 detects the stopping and / or starting of the tilting vehicle 100 based on the speed information of the tilting vehicle 100 obtained from speed information acquisition example 1, speed information acquisition example 2, or speed information acquisition example 3. Such control actions are useful, for example, in the aforementioned positional adjustment actions and the aforementioned hill-holding control actions. For example, the actuator 22 determines that the tilting vehicle 100 has stopped if the first speed information indicates that the speed of the tilting vehicle 100 has become 0, or if the period during which the speed of the tilting vehicle 100 has become 0 exceeds a reference time. The actuator 22 can also validate this determination only if the rate of change of the speed of the tilting vehicle 100 is lower than a reference. Furthermore, the actuator 22 determines that the tilting vehicle 100 has started if the first speed information indicates that the speed of the tilting vehicle 100 has become non-zero, or if the information indicates that the speed has not become 0 even after a period exceeding a reference time since the speed of the tilting vehicle 100 ceased to be zero. The actuator 22 can also validate the determination only if the rate of change of the vehicle speed of the tilting vehicle 100 is higher than a reference. The actuator 22 can detect stopping and / or starting based on the output of the inertial sensor 13 in addition to the first speed information. For example, if the actuator 22 determines that the acceleration in the forward / backward direction of the tilting vehicle 100 is lower than a reference based on the output of the inertial sensor 13, it validates the determination of stopping based on the first speed information. Furthermore, if the actuator 22 determines that the acceleration in the forward / backward direction of the tilting vehicle 100 is higher than a reference based on the output of the inertial sensor 13, it validates the determination of starting based on the first speed information. Alternatively, the actuator 22 can detect stopping and / or starting based on the output of the rotation speed sensor 12 in addition to the first speed information. The rotation speed sensor 12, in principle, outputs a rotation speed of 0 when the wheel 101 is rotating at a very slow speed. Therefore, if the rotation speed sensor 12 outputs a rotation speed of 0, the actuator 22 validates the determination of stopping based on the first speed information. Furthermore, if the rotational speed sensor 12 does not output a rotational speed of 0, the actuator 22 will validate the start-up determination based on the first speed information. Alternatively, the actuator 22 may detect a stop based not only on the first speed information at the first moment, but also on the travel status information of the tilting vehicle 100 at a second moment earlier than the first moment. The travel status information includes, for example, the second speed information, and speed information obtained based on information not used in the first and second speed information. That is, during the process of the tilting vehicle 100 decelerating to a stop, based on the assumption of stable operation of the braking device 30 operated by the rider, the stop time can be estimated based on the deceleration state of the tilting vehicle 100 at the second moment.Therefore, even if the execution unit 22 determines that the tilting vehicle 100 has stopped based on the first speed information acquired at the first moment, it invalidates the determination if the first moment differs significantly from the estimated stopping moment. Alternatively, if the estimated stopping moment is reached, the execution unit 22 determines whether the tilting vehicle 100 is stopping based on the first speed information. In cases where the first speed information cannot be acquired (e.g., when no stationary object is detected around the tilting vehicle 100 by the ambient environment sensor 11), the execution unit 22 can detect stopping and / or starting based on information used to supplement the aforementioned determination of stopping and / or starting based on the first speed information.

[0040] As another example, the actuator 22 changes the priority of the speed information of the tilting vehicle 100 acquired in Speed ​​Information Acquisition Example 1—that is, the priority of the first speed information and the second speed information acquired without relying on the output of the rotational speed sensor 12—and performs a control action to assist the rider. The rotational speed sensor 12, in principle, outputs zero rotational speed when the wheel 101 is rotating at a very slow speed. Therefore, during the process of the tilting vehicle 100 coming to a stop while decelerating, the actuator 22 prioritizes the second speed information higher than the first speed information in the initial stage, and prioritizes the first speed information higher than the second speed information in the later stage (i.e., when the speed of the tilting vehicle 100 is lower than a reference). Alternatively, during the process of the tilting vehicle 100 accelerating from a stop, the actuator 22 prioritizes the first speed information higher than the second speed information in the initial stage, and prioritizes the second speed information higher than the first speed information in the later stage (i.e., when the speed of the tilting vehicle 100 is higher than a reference). Alternatively, if the rotation speed sensor 12 fails (e.g., a decrease in gain, malfunction, or disconnection in the detection unit), the execution unit 22 can set the priority of the first speed information higher than that of the second speed information. For example, the execution unit 22 can determine whether the rotation speed sensor 12 has failed based on the elapsed time of its output. The phrase "set the priority higher" can mean using only the one with the higher priority, or it can mean setting the weight of the one with the higher priority to be greater than that of the one with the lower priority, or using both the one with the higher priority and the one with the lower priority.

[0041] As another example, the execution unit 22 changes the priority of the first speed information and the second speed information obtained from the speed information acquisition example 3 (i.e., the information on the positional relationship between the tilted vehicle 100 and objects stationary around the tilted vehicle 100), and executes a control action to assist the rider. The larger the tilt angle θ of the wheel 101, the greater the error of the second speed information relative to the actual vehicle speed and / or wheel speed generated on the tilted vehicle 100. Therefore, the execution unit 22 changes the priority of the first speed information and the second speed information based on the tilt state information of the wheel 101. For example, if the tilt state information indicates that the wheel 101 has tilted at an angle θ lower than the reference, the execution unit 22 sets the priority of the second speed information higher than the first speed information; if the tilt state information indicates that the wheel 101 has tilted at an angle θ higher than the reference, the execution unit 22 sets the priority of the first speed information higher than the second speed information. Furthermore, the tilting state information of wheel 101 can be obtained based on the assumption that wheel 101 tilts at the same angle as the tilting vehicle body 100, and based on the output of inertial sensor 13 (e.g., the value obtained by integrating the angular velocity in the roll direction of the vehicle body, the angular velocity in the yaw direction of the vehicle body, the acceleration in the width direction of the vehicle body, etc.). Alternatively, if wheel 101 is a front wheel 101A, the tilting state information of wheel 101 can be obtained as a value obtained by correcting the change in the steering angle of the tilting vehicle 100 to the value obtained based on the output of inertial sensor 13. The statement "setting the priority to be higher" can mean using only the higher priority, or it can mean setting the weight of the higher priority to be greater than the weight of the lower priority, or using both the higher and lower priority.

[0042] <Motions of the rider assistance system> The operation of the rider assistance system described in the embodiment will be explained.

[0043] Figure 5 This is a diagram illustrating the operation flow of the processing device of the rider assistance system according to an embodiment of the present invention.

[0044] The processing device 20 performs the following actions while the tilting vehicle 100 is in motion: Figure 5 The action flow is shown.

[0045] (Steps to obtain) In step S101, the acquisition unit 21 acquires positional relationship information between the tilting vehicle 100 and stationary objects around the tilting vehicle 100 based on the output of the surrounding environment sensor 11. Based on this positional relationship information, it acquires speed information, which serves as information about the vehicle speed and / or wheel speed of the tilting vehicle 100. Furthermore, the acquisition unit 21 acquires various other information as needed.

[0046] (Execution steps) In step S102, the execution unit 22 executes a control action to assist the rider of the tilted vehicle 100 based on the speed information obtained in step S101.

[0047] <Effects of the rider assistance system> The effects of the rider assistance system described in the embodiment will be explained.

[0048] In the rider assistance system 1, the acquisition unit 21 acquires positional relationship information between the tilting vehicle 100 and stationary objects around the tilting vehicle 100 based on the output of the surrounding environment sensor 11 mounted on the tilting vehicle 100. Based on the positional relationship information, it acquires first speed information, which serves as information about the vehicle speed and / or wheel speed of the tilting vehicle 100. Therefore, the accuracy of the first speed information can be improved.

[0049] Preferably, the acquisition unit 21 acquires the shape information of the wheel 101 based on positional relationship information and the output of the rotational speed sensor 12 of the wheel 101 of the tilted vehicle 100, and acquires first speed information based on the shape information and the output of the rotational speed sensor 12. Therefore, it is possible to acquire shape information that reflects the actual state of the wheel 101. In particular, the acquisition unit 21 can acquire statistical values ​​based on multiple positional relationship information, and acquire shape information based on these statistical values. With this configuration, the accuracy of the shape information can be improved.

[0050] Preferably, the acquisition unit 21 acquires the shape information of the wheel 101 based on positional relationship information, tilting state information of the wheel 101 of the tilted vehicle 100, and the output of the rotation speed sensor 12 of the wheel 101, and acquires first speed information based on the shape information, tilting state information, and the output of the rotation speed sensor 12. Therefore, it is possible to acquire shape information that reflects the actual state of the wheel 101 in detail. In particular, the acquisition unit 21 can acquire statistical values ​​based on multiple positional relationship information, and acquire shape information based on these statistical values. With this configuration, the accuracy of the shape information can be improved.

[0051] Preferably, the execution unit 22 executes a control action to assist the rider of the tilting vehicle 100 based on the first speed information. Specifically, in this control action, the execution unit 22 can detect the stopping and / or starting of the tilting vehicle 100 based on the first speed information. With this configuration, the accuracy of detecting the stopping and / or starting of the tilting vehicle 100 can be improved. Alternatively, the acquisition unit 21 can acquire second speed information, which is information about the vehicle speed and / or wheel speed of the tilting vehicle 100, based on the output of the rotational speed sensor 12 of the wheel 101 of the tilting vehicle 100, instead of the first speed information based on the positional relationship information between the tilting vehicle 100 and objects stationary around the tilting vehicle 100. The execution unit 22 then changes the priority of the first and second speed information and executes the control action. With this configuration, the effect of executing a control action based on speed information with high accuracy can be achieved.

[0052] The embodiments have been described above, but only a portion of the embodiments may be implemented, or a portion of the embodiments may be combined with each other, or a portion of the embodiments may be modified in a different manner. That is, the present invention is not limited to the description of the embodiments.

[0053] For example, the above description illustrates a case where the processing device 20 includes an execution unit 22, which performs control actions to assist the rider of the tilting vehicle 100 based on speed information. However, the speed information can also be used for other purposes. That is, the processing device 20 may not include an execution unit 22.

[0054] Explanation of reference numerals in the attached figures 1 Rider assistance system; 11 Ambient environment sensor; 12 Rotation speed sensor; 13 Inertial sensor; 14 Position sensor; 15 Setting input device; 20 Processing device; 21 Acquisition unit; 22 Execution unit; 30 Braking device; 40 Drive device; 50 Reporting device; 100 Tilt vehicle; 101 Wheel; 101A Front wheel; 101B Rear wheel; P Ground contact part; D Diameter; θ Tilt angle.

Claims

1. A processing device, comprising a processing device (20) mounted on a tilting vehicle (100), characterized in that, A speed information acquisition unit (21) is equipped with a speed information acquisition unit that acquires information about the vehicle speed and / or wheel speed of the aforementioned tilting vehicle (100). The aforementioned acquisition unit (21) is, Based on the output of the surrounding environment sensor (11) mounted on the aforementioned tilting vehicle (100), positional relationship information between the tilting vehicle (100) and stationary objects around the tilting vehicle (100) is obtained. Based on the aforementioned positional relationship information, the aforementioned speed information is obtained.

2. The processing apparatus as described in claim 1, characterized in that, The aforementioned acquisition unit (21) is, Based on the aforementioned positional relationship information and the output of the rotation speed sensor (12) of the wheel (101) of the aforementioned tilted vehicle (100), the shape information of the aforementioned wheel (101) is obtained; Based on the aforementioned shape information and the output of the aforementioned rotation speed sensor (12), the aforementioned speed information is obtained.

3. The processing apparatus as described in claim 1, characterized in that, The aforementioned acquisition unit (21) is, Based on the aforementioned positional relationship information, the tilting state information of the aforementioned tilted vehicle (100) wheel (101), and the output of the aforementioned wheel (101) rotation speed sensor (12), the shape information of the aforementioned wheel (101) is obtained; Based on the aforementioned shape information, the aforementioned tilting state information, and the output of the aforementioned rotation speed sensor (12), the aforementioned speed information is obtained.

4. The processing apparatus as described in claim 2 or 3, characterized in that, The aforementioned acquisition unit (21) is, Statistical values ​​are obtained based on multiple aforementioned location relationship information; The aforementioned shape information is obtained based on the aforementioned statistical values.

5. The processing apparatus as described in claim 4, characterized in that, The aforementioned acquisition unit (21) acquires the aforementioned statistical values ​​based on the outputs of the same aforementioned ambient environment sensor (11) at multiple different times.

6. The processing apparatus as described in claim 4, characterized in that, The aforementioned acquisition unit (21) acquires the aforementioned statistical values ​​based on the outputs of multiple aforementioned ambient environment sensors (11) with different detection ranges.

7. The processing apparatus as claimed in claim 1, characterized in that, An execution unit (22) is provided that performs control actions to assist the rider of the aforementioned tilted vehicle (100) based on the aforementioned speed information.

8. The processing apparatus as claimed in claim 7, characterized in that, In the aforementioned control action, the aforementioned actuator (22) detects the stopping and / or starting of the aforementioned tilting vehicle (100) based on the aforementioned speed information.

9. The processing apparatus as claimed in claim 8, characterized in that, In the aforementioned control action, the aforementioned actuator (22) detects the aforementioned stop and / or start based on the output of the aforementioned inertial sensor (13) of the aforementioned tilting vehicle (100) in addition to the aforementioned speed information.

10. The processing apparatus as claimed in claim 8, characterized in that, In the aforementioned control action, the aforementioned execution unit (22) detects the aforementioned stop based on the aforementioned speed information at the first moment, as well as the driving status information of the aforementioned tilted vehicle (100) at the second moment, which is earlier than the first moment.

11. The processing apparatus according to any one of claims 7 to 10, characterized in that, In addition to the aforementioned speed information, which is the first speed information, the aforementioned acquisition unit (21) acquires second speed information, which is the vehicle speed and / or wheel speed of the aforementioned tilting vehicle (100), based on the output of the rotation speed sensor (12) of the wheel (101) of the aforementioned tilting vehicle (100), not based on the aforementioned position relationship information. The aforementioned execution unit (22) changes the priority of the aforementioned first speed information and the aforementioned second speed information, and executes the aforementioned control action.

12. The processing apparatus as claimed in claim 11, characterized in that, During the process of the aforementioned tilting vehicle (100) decelerating until it comes to a stop, the aforementioned execution unit (22) increases the priority of the aforementioned first speed information.

13. The processing apparatus as claimed in claim 11, characterized in that, During the acceleration process of the aforementioned tilted vehicle (100) which is in a stop, the aforementioned execution unit (22) increases the priority of the aforementioned second speed information.

14. The processing apparatus as claimed in claim 11, characterized in that, In the event that the aforementioned rotation speed sensor (12) fails, the aforementioned execution unit (22) increases the priority of the aforementioned first speed information.

15. A processing method performed by a processing device (20) mounted on a tilting vehicle (100), characterized in that, The acquisition unit (21) of the aforementioned processing device (20) acquires speed information, which is information on the vehicle speed and / or wheel speed of the aforementioned tilting vehicle (100); The aforementioned acquisition unit (21) is, Based on the output of the surrounding environment sensor (11) mounted on the aforementioned tilting vehicle (100), positional relationship information between the tilting vehicle (100) and stationary objects around the tilting vehicle (100) is obtained. Based on the aforementioned positional relationship information, the aforementioned speed information is obtained.

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