Control device equipped with an automatic braking system and a motorcycle equipped therewith

Abstract

The present invention provides a control device equipped with an automatic braking system that can prevent the motorcycle from tipping over due to deceleration by releasing the automatic brake according to the characteristics of the motorcycle, and can also smoothly return to normal driving, as well as a motorcycle equipped with the same. [Solution] A control device for a motorcycle, comprising an obstacle detection means for detecting obstacles in the direction of travel of the vehicle, and an automatic braking device for automatically braking the vehicle to avoid contact with an obstacle, wherein the automatic braking by the automatic braking device is released when at least one of the following conditions (1) to (3) is met: (1) the speed of the vehicle is below a threshold, (2) the roll angle of the vehicle is above a threshold, or (3) the steering angle of the vehicle's handlebars is above a threshold.

Description

Technical Field

[0001] The present invention relates to a control device provided with an automatic braking device and a two-wheeled vehicle provided with the same. More specifically, by performing automatic braking release according to the characteristics of the two-wheeled vehicle, it is possible to avoid the two-wheeled vehicle from falling due to deceleration, and also relates to a control device provided with an automatic braking device that can smoothly return to normal driving and a two-wheeled vehicle provided with the same.

Background Art

[0002] Today, when detecting an obstacle in front of the traveling direction of the own vehicle using a camera, radar, etc., and when there is a possibility that the own vehicle will contact this obstacle, a warning such as a buzzer is used to prompt the driver to perform a contact avoidance action, and at the same time, an automatic braking device provided on the own vehicle is operated to avoid contact between the own vehicle and the obstacle or minimize the damage in case of contact. There is a known vehicle control device. In such a control device, if the driver performs a steering operation while automatic braking is being performed, the steering operation interferes with the automatic braking, making it difficult to perform a contact avoidance action or giving the driver a sense of discomfort.

[0003] In order to solve such problems, in Patent Document 1, a vehicle safety driving device that harmonizes the automatic braking of the own vehicle and the steering operation by the driver and avoids contact between the own vehicle and the obstacle has been proposed. This safety driving device calculates an automatic braking release gradient based on the contact possibility estimated by the contact possibility estimation means and the steering operation amount detected by the steering operation amount detection means when the driver performs a steering operation while the automatic braking device is executing automatic braking, and releases the automatic braking at a speed corresponding to the obtained automatic braking release gradient.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] However, the safety driving device proposed in Patent Document 1 is based on the premise of a four-wheeled vehicle, and automatically releases the brakes when steering input is detected, so it is not a detection means that corresponds to the characteristics of a two-wheeled vehicle. For this reason, it is difficult to apply the technology of Patent Document 1 to a two-wheeled vehicle. In addition, in the case of a two-wheeled vehicle, if the automatic braking system slows down more than necessary to avoid contact with an obstacle, it is possible that the motorcycle may tip over.

[0006] Therefore, the object of the present invention is to provide a control device equipped with an automatic braking system that can prevent the motorcycle from tipping over due to deceleration by releasing the automatic braking according to the characteristics of the motorcycle, and can also smoothly return to normal driving, and a motorcycle equipped with the same. [Means for solving the problem]

[0007] As a result of diligent research to solve the above problems, the inventors of this invention have found that the above problems can be solved by setting the conditions for releasing the automatic braking of a motorcycle as follows, and have completed the present invention.

[0008] In other words, the control device of the present invention includes an obstacle detection means for detecting an obstacle in front of the vehicle in the direction of travel, A control device for a motorcycle, comprising an automatic braking system that automatically applies the brakes to the vehicle to avoid contact between the vehicle and the aforementioned obstacle, During the operation of the automatic braking system described above, under the following conditions (1) to (3), (1) The speed of your vehicle is below the threshold, (2) The roll angle of the vehicle is above the threshold, (3) The steering angle of the vehicle's steering wheel is greater than or equal to the threshold. The automatic braking system is characterized by releasing the automatic braking when at least one of the following conditions is met.

[0009] Another control device of the present invention includes an obstacle detection means for detecting an obstacle in the direction of travel of the vehicle, An automatic braking system that automatically applies the brakes to the vehicle to avoid contact between the vehicle and the aforementioned obstacle, In a control device for a two-wheeled vehicle equipped with a pedal for driving the rear wheel, During the operation of the automatic braking system, under the following conditions (1) to (4), (1) The speed of your vehicle is below the threshold, (2) The roll angle of the vehicle is above the threshold, (3) The steering angle of the vehicle's steering wheel is greater than or equal to the threshold. (4) The pedal force applied by the vehicle is above the threshold. The automatic braking system is characterized by releasing the automatic braking when at least one of the following conditions is met.

[0010] In the control device of the present invention and other control devices of the present invention, when mounted on a motorcycle, there is a first notification means that notifies the driver of a warning when the obstacle detection means detects an obstacle, and it is preferable that the first notification means is at least one selected from the group consisting of a display device, an audio output device, and a vibration device. Furthermore, in the control device of the present invention and other control devices of the present invention, when mounted on a motorcycle, there is a second notification means that notifies the obstacle of a warning when the obstacle detection means detects an obstacle, and it is preferable that the second notification means is at least one of an audio output device and a lighting device.

[0011] The motorcycle of the present invention is characterized by being equipped with the control device of the present invention or another control device of the present invention. [Effects of the Invention]

[0012] According to the control device equipped with the automatic braking device of the present invention, when automatic braking is released when the vehicle speed becomes lower than the threshold value, the motorcycle will not stop, so the motorcycle can avoid falling, and the driver can safely stop the vehicle by operating it. Also, when the roll angle of the motorcycle becomes greater than or equal to the threshold value, it is presumed that the motorcycle can perform an obstacle avoidance operation, so it can smoothly return to normal driving. Furthermore, when the steering angle of the handlebar becomes greater than or equal to the threshold value, similarly, it is presumed that the motorcycle can perform an obstacle avoidance operation, so it can smoothly return to normal driving. In another control device of the present invention for a motorcycle having a pedal for driving the rear wheel, in addition to these, when the pedal force of the vehicle becomes greater than or equal to the threshold value, it is also set as a condition for releasing automatic braking. Also in this case, the vehicle can smoothly return to normal driving.

[0013] Thus, according to the present invention, by performing release of automatic braking according to the characteristics of the motorcycle, it is possible to avoid the fall of the motorcycle due to deceleration, and it is possible to provide a control device equipped with an automatic braking device that can smoothly return to normal driving, and a motorcycle equipped with this.

Brief Description of the Drawings

[0014] [Figure 1] It is a flowchart showing the flow of the operation of the control device according to a preferred embodiment of the present invention. [Figure 2] It is a flowchart showing the flow of the operation of the control device according to another preferred embodiment of the present invention. [Figure 3] It is a schematic side view of an electric assist bicycle according to a preferred embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, a control device (hereinafter, also simply referred to as "control device") equipped with the automatic braking device of the present invention and a motorcycle will be described in detail with reference to the drawings.

[0016] <Control Device> First, the control device of the present invention will be described. The control device of the present invention is a control device for a two-wheeled vehicle. And the control device of the present invention includes an obstacle detection means for detecting an obstacle in front of the traveling direction of the own vehicle, and an automatic braking device for automatically braking the own vehicle to avoid contact between the own vehicle and the detected obstacle. In the present invention, examples of the two-wheeled vehicle include, in addition to a motorcycle, a bicycle, an electric bicycle, and an electric assist bicycle, a kick scooter (registered trademark) with an electric unit, a Segway (registered trademark), a skateboard with an electric unit, and the like.

[0017] FIG. 1 is a flowchart showing the flow of the operation of the control device according to a preferred embodiment of the present invention. As shown in the figure, the control device of the present invention detects an obstacle in front of the traveling direction of the own vehicle by the obstacle detection means (S1). Here, examples of the obstacle include a pedestrian, a bicycle, a motorcycle, a four-wheeled vehicle, a building, a utility pole, and the like. In the control device of the present invention, a known device can be used as the obstacle detection means, and for example, a camera, a radar, a sonar, or the like can be used.

[0018] The control device of the present invention estimates that there is a high possibility that the own vehicle will contact the obstacle when the distance between the own vehicle and the obstacle is less than the threshold value or when the relative speed between the own vehicle and the obstacle exceeds the threshold value. For example, based on the position, moving direction, moving speed, etc. of the obstacle acquired by the obstacle detection means and various information on the traveling state of the own vehicle acquired by various sensors such as a vehicle speed sensor, a roll angle sensor, and a steering angle sensor, a calculation processing device calculates parameters such as the predicted path of the own vehicle, the position, traveling direction, moving speed, etc. of the obstacle, and the relative speed between the own vehicle and the obstacle, determines a threshold value based on the obtained parameters, and can be configured to estimate the possibility of contact between the own vehicle and the obstacle.

[0019] In the control device of the present invention, it is preferable to have a notification means (first notification means) that warns the driver that an obstacle is approaching when it is estimated that there is a high probability of the vehicle coming into contact with an obstacle (S1) (S2). This allows the driver to take action to avoid contact between the vehicle and the obstacle. Furthermore, in the control device of the present invention, it is also preferable to have a notification means (second notification means) that warns pedestrians, cyclists, motorcycles, four-wheeled vehicles, etc., that the vehicle is approaching, in addition to the driver. By drawing the attention of pedestrians, etc., the safety of the vehicle and pedestrians, etc. can be improved.

[0020] In the control device of the present invention, if it is estimated that there is a high probability of the vehicle coming into contact with an obstacle, preferably after a warning notification (S2), the vehicle is decelerated by the automatic braking device according to the control device of the present invention (S3). The magnitude of the braking force by the automatic braking device may be appropriately adjusted according to the probability of the vehicle coming into contact with an obstacle.

[0021] The control device of the present invention, while the automatic braking device is in operation, releases the automatic braking by the automatic braking device (S5) if at least one of the following three conditions is satisfied (S4): (1) the vehicle's speed is below a threshold, (2) the vehicle's roll angle is above a threshold, or (3) the steering angle of the vehicle's steering wheel is above a threshold, based on various information about the vehicle's movement obtained from various sensors such as a vehicle speed sensor, roll angle sensor, and steering angle sensor. In the control device of the present invention, there are no particular restrictions on the vehicle speed sensor, roll angle sensor, and steering angle sensor, and known sensors can be used. Furthermore, in the control device of the present invention, there are no particular restrictions on the braking means of the automatic braking device as long as it operates based on a signal from the processing unit. For example, in the case of an electric assist bicycle, a regenerative brake that generates regenerative power to charge the battery can be used as the braking means, but mechanical brakes such as drum brakes or disc brakes may also be used.

[0022] In the control device of the present invention, when the condition (1) the vehicle's speed is below a threshold is met, the vehicle is sufficiently decelerated to the point where the driver can safely stop it, and even if the vehicle comes into contact with an obstacle, the damage can be minimized. If automatic braking is applied in such a state, the motorcycle may wobble or fall over. To avoid such a situation, the control device of the present invention releases automatic braking when condition (1) is met. In this case, at the time of the release of automatic braking, only the braking force from the driver's braking operation is applied, allowing the driver to smoothly return to normal driving without feeling any discomfort. The threshold can be any speed at which the vehicle can be safely stopped by the driver's operation, for example, it can be 2 to 3 km / h.

[0023] Furthermore, in the control device of the present invention, the condition (2) that the vehicle's roll angle is greater than or equal to a threshold is based on the assumption that when the vehicle's roll angle increases, an action to avoid contact between the vehicle and an obstacle has been taken. That is, when a motorcycle avoids an obstacle, it tilts its body to turn, so when the vehicle's roll angle increases, it can be assumed that the vehicle is in a state where it can avoid the obstacle. Therefore, in the control device of the present invention, when condition (2) is met, the automatic braking by the automatic braking device is released. In this case as well, at the time the automatic braking is released, only the braking force from the driver's braking operation is in effect, allowing for a smooth return to normal driving without causing any discomfort to the driver. The threshold value for the vehicle's roll angle can be appropriately set in the processing unit according to the relative speed and distance between the vehicle and the obstacle, etc., so as to ensure that contact between the vehicle and the obstacle can be avoided.

[0024] Furthermore, in the control device of the present invention, the condition (3) that the steering angle of the vehicle's steering wheel is greater than or equal to a threshold value is based on the assumption that a collision avoidance maneuver between the vehicle and the obstacle has been performed. Therefore, in the control device of the present invention, when condition (3) is met, the automatic braking by the automatic braking device is released. In this case as well, at the time the automatic braking is released, only the braking force from the driver's braking operation is applied, allowing for a smooth return to normal driving without causing any discomfort to the driver. The threshold value for the steering angle of the vehicle's steering wheel can also be appropriately set in the processing unit according to the relative speed and distance between the vehicle and the obstacle, etc., so as to ensure that collision between the vehicle and the obstacle can be avoided.

[0025] In another embodiment, the braking device of the present invention can be a control device for a two-wheeled vehicle equipped with a pedal that drives the rear wheel. In the case of a two-wheeled vehicle equipped with a pedal that drives the rear wheel, particularly an electric assist bicycle, in addition to the conditions (1) to (3) above, (4) that the pedaling force of the vehicle is equal to or greater than a threshold may be added as a condition for releasing the automatic braking. That is, in the case of a two-wheeled vehicle equipped with a pedal that drives the rear wheel, the automatic braking device can be configured to release the automatic braking when at least one of the conditions (1) to (4) is met.

[0026] When pedaling force is applied, the bicycle or electric assist bicycle will accelerate. In this case, especially after the aforementioned warning, it is assumed that the driver has recognized the obstacle and determined that contact between the vehicle and the obstacle can be avoided. The pedaling force threshold can be appropriately set in the processing unit according to the relative speed and distance between the vehicle and the obstacle, etc., so as to ensure that contact between the vehicle and the obstacle can be avoided. Known pedaling force sensors can be used to detect the pedaling force applied. The operation flow of the control device according to another preferred embodiment of the present invention is shown in the flowchart of Figure 2, where S1, S2, S3 and S5 in Figure 2 are the same as in Figure 1.

[0027] As described above, the control device of the present invention preferably has a notification means (first notification means) that notifies the driver of a warning when the obstacle detection means detects an obstacle when mounted on a motorcycle (S2). Here, the first notification means preferably uses a display device, an audio output device, or a vibration device. By notifying the driver of the possibility of contact between the vehicle and an obstacle, the driver can be encouraged to take voluntary contact avoidance actions. Examples of display devices include the driver's electric vehicle operation switch, cycle computer, navigation device, and mobile terminal device including a smartphone mounted on the motorcycle. Examples of audio output devices include speakers, such as speakers provided in the devices listed as examples of display devices above. Examples of vibration devices include vibrators provided on the handlebars or seat.

[0028] Furthermore, as mentioned above, when the control device of the present invention is mounted on a motorcycle, it is preferable that it also has a notification means (second notification means) that notifies the obstacle when the obstacle detection means detects an obstacle such as a pedestrian or bicycle (S2). Here, it is preferable that the second notification means be an audio output device such as a buzzer or a lighting device. When the vehicle approaches a pedestrian or the like, the safety of both the vehicle and the pedestrian or the like can be improved by alerting the pedestrian or the like.

[0029] The control device of the present invention comprises an obstacle detection means for detecting obstacles in the direction of travel of the vehicle, and an automatic braking device for automatically braking the vehicle to avoid contact with the obstacle. During the operation of automatic braking by the automatic braking device, the automatic braking is released if at least one of the above conditions (1) to (3) is met. In the case of a two-wheeled vehicle equipped with pedals to drive the rear wheel, for example, if the two-wheeled vehicle is an electric assist bicycle, it is important that in addition to the above conditions (1) to (3), the automatic braking by the automatic braking device is also released if at least one of the above condition (4) is met. There are no other particular limitations. The control device of the present invention may be further improved in accuracy by using sensors other than those described above.

[0030] <Motorcycle> Next, the two-wheeled vehicle of the present invention will be described. The two-wheeled vehicle of the present invention is equipped with the control device of the present invention or another control device of the present invention. In the present invention, as mentioned above, two-wheeled vehicles include motorcycles, bicycles, electric bicycles, electric assist bicycles, as well as electric kick scooters (registered trademark), Segways (registered trademark), electric skateboards, etc. Hereinafter, the two-wheeled vehicle of the present invention will be described using the drawings, with an electric assist bicycle as an example.

[0031] Figure 3 is a schematic side view of an electric assist bicycle according to one preferred embodiment of the present invention. The illustrated electric assist bicycle 1 comprises a head tube 2 positioned at the front end, a down tube 3 extending from the head tube 2 at an angle downward and rearward, and a seat tube 4 and chainstay 5 connected to the rear end of the down tube 3. The head tube 2 is positioned at the front end of the down tube 3 at an angle downward and forward. A handle stem 6 is rotatably held in the head tube 2, and a handle 7 is integrally connected to the upper end of the handle stem 6. Furthermore, a pair of left and right front forks 8 are connected to the lower part of the head tube 2. The pair of front forks 8 extend at an angle downward and forward, and a front wheel 9 is rotatably supported at their lower ends, and a rear wheel 10 is rotatably supported at the rear end of the chainstay 5. Furthermore, a pedal 11 that drives the rear wheel 10 is rotatably supported at the lower part of the seat tube 4, and when the rider steps on the pedal 11, driving force is transmitted to the rear wheel 10 via a chain (not shown).

[0032] The electric assist bicycle 1, a preferred embodiment of the present invention shown in the illustration, is equipped with a hub motor 12 on the hub of the front wheel 9 that generates a driving force to rotate the front wheel 9, and this hub motor 12 is fixed to the tip of the front fork 8. Inside the hub motor 12 is a regenerative brake related to the automatic braking device of the control device of the present invention, and the operation and release of the regenerative brake are controlled in accordance with a signal from a processing unit (not shown) related to the control device of the present invention. Furthermore, a camera 13, which is an obstacle detection means of the control device according to the present invention, is attached to the handlebar 7 of the electric assist bicycle 1 shown in the illustration, and in addition to various sensors such as a vehicle speed sensor, a roll angle sensor, and a steering angle sensor, a pedal force sensor is also provided (not shown).

[0033] As shown in the illustration, the electric assist bicycle 1 of the present invention has a battery 14 that supplies power, which is detachably mounted at the rear of the seat tube 4. It has wiring 15 for supplying power from the battery 14 to the hub motor 12 and the regenerative brake, and this wiring 15 is connected to the hub motor 12 via a connector. In the illustrated example, the wiring 15 is connected to the battery 14, which is located along the frame at the rear of the seat tube 4. Note that "wiring" does not refer only to a single wire, but also includes harnesses composed of bundled wires.

[0034] Furthermore, the electric assist bicycle 1 of the present invention is equipped with an operation panel 17 on the handlebars 7 for turning the electric system on / off, displaying various information, turning the headlights 16 on and off, etc. This operation panel 17 has a mode selection button for selecting the assist ratio setting, a light button for turning the lights on and off, and various display units for displaying the status of the electric assist bicycle 1. In the electric assist bicycle 1 of the present invention, this operation panel 17 may function as a display device or audio output device, which are first notification means related to the control device of the present invention, or a vibration device such as a vibrator may be provided on the handlebars 7 or saddle 18. Furthermore, although not shown in the figures, the electric assist bicycle 1 of the present invention may also be equipped with an audio output device or lighting device, which are second notification means related to the control device of the present invention.

[0035] Furthermore, the electric assist bicycle 1 of the present invention may be equipped with a luggage rack 19, a child seat (not shown), a basket 20, etc. In this case as well, there are no particular restrictions on the luggage rack 19, child seat, and basket 20, and known ones can be used. For the child seat, either a front child seat or a rear child seat can be used. Also, there are no particular restrictions on the shape of the luggage rack 19 or basket 20. Furthermore, the electric assist bicycle 1 of the present invention may be equipped with a rearview monitor (not shown), turn signals (not shown), etc.

[0036] Although the two-wheeled vehicle of the present invention has been described using an electric assist bicycle as an example, the two-wheeled vehicle of the present invention is not limited to electric assist bicycles, but can be broadly applied to motorcycles and the like. [Explanation of Symbols]

[0037] 1. Electric-assist bicycle 2 head tube 3 Downtube 4 seat tube 5 Chainstay 6. Handlebar stem 7 Handle 8 Front Forks 9 Front wheels 10 Rear wheels 11 pedals 12 Hub motors 13 Cameras 14 batteries 15 Wiring 16 Headlights 17. Control Panel 18 saddle 19. Cargo bed 20 Basketball

Claims

1. An obstacle detection means for detecting obstacles in the direction of travel ahead of the vehicle, A control device for a motorcycle, comprising an automatic braking system that automatically applies the brakes to the vehicle to avoid contact between the vehicle and the aforementioned obstacle, During the operation of the automatic braking system described above, under the following conditions (1) to (3), (1) The speed of your vehicle is below the threshold, (2) The roll angle of the vehicle is above the threshold, (3) The steering angle of the vehicle's steering wheel is greater than or equal to the threshold. A control device characterized by releasing the automatic braking by the automatic braking device if at least one of the following conditions is met.

2. An obstacle detection means for detecting obstacles in the direction of travel ahead of the vehicle, An automatic braking system that automatically applies the brakes to the vehicle to avoid contact between the vehicle and the aforementioned obstacle, In a control device for a two-wheeled vehicle equipped with a pedal for driving the rear wheel, During the operation of the automatic braking system described above, under the following conditions (1) to (4), (1) The speed of your vehicle is below the threshold, (2) The roll angle of the vehicle is above the threshold, (3) The steering angle of the vehicle's steering wheel is greater than or equal to the threshold. (4) The pedal force applied by the vehicle is above the threshold. A control device characterized by releasing the automatic braking by the automatic braking device if at least one of the following conditions is met.

3. The control device according to claim 1, wherein, when mounted on a motorcycle, the control device has a first notification means for notifying the driver of a warning when the obstacle detection means detects an obstacle, and the first notification means is at least one selected from the group consisting of a display device, an audio output device, and a vibration device.

4. The control device according to claim 2, wherein, when mounted on a motorcycle, the control device has a first notification means for notifying the driver of a warning when the obstacle detection means detects an obstacle, and the first notification means is at least one selected from the group consisting of a display device, an audio output device, and a vibration device.

5. The control device according to claim 1, wherein, when mounted on a motorcycle, the control device has a second notification means for notifying an obstacle when the obstacle detection means detects an obstacle, and the second notification means is at least one of an audio output device and a lighting device.

6. The control device according to claim 2, wherein, when mounted on a motorcycle, the control device has a second notification means for notifying an obstacle when the obstacle detection means detects an obstacle, and the second notification means is at least one of an audio output device and a lighting device.

7. A motorcycle characterized by comprising the control device described in claims 1 to 6.

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