JP7203121B2 - 鞍乗型車両のライダー支援システムのための処理装置及び処理方法、鞍乗型車両のライダー支援システム、及び、鞍乗型車両 - Google Patents
鞍乗型車両のライダー支援システムのための処理装置及び処理方法、鞍乗型車両のライダー支援システム、及び、鞍乗型車両 Download PDFInfo
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Description
以下に、実施の形態に係るライダー支援システムを説明する。
実施の形態に係るライダー支援システムの構成について説明する。
図1は、本発明の実施の形態に係るライダー支援システムの、鞍乗型車両への搭載状態を示す図である。図2は、本発明の実施の形態に係るライダー支援システムの、システム構成を示す図である。
実施の形態に係るライダー支援システムの動作について説明する。
図3は、本発明の実施の形態に係るライダー支援システムの、処理装置の動作フローを示す図である。
ステップS101において、取得部21は、周囲環境検出装置11の出力に応じた周囲環境情報を取得する。また、取得部21は、走行状態検出装置12の出力に応じた走行状態情報を取得する。
ステップS102において、判定部22は、ステップS101で取得された情報に基づいて、鞍乗型車両100の後方に追突可能性が高い後続車両が存在しており、且つ、その後続車両が鞍乗型車両100の後方を鞍乗型車両100と略等しい速度で走行しているか否かを判定する。Yesである場合には、ステップS103に進み、Noである場合には、ステップS101に戻る。
ステップS103において、制御部23は、実行装置Pに支援動作を実行させる。
実施の形態に係るライダー支援システムの効果について説明する。
処理装置20が、鞍乗型車両100の周囲環境情報を取得する取得部21と、ライダー支援システム1に生じさせるライダーの運転を支援する支援動作の必要性を判定する判定部22と、判定部22で支援動作が必要であると判定された場合に、実行装置Pに支援動作を実行させる制御部23と、を備えており、周囲環境情報が、鞍乗型車両100の後方の周囲環境の情報を含み、判定部22が、その後方の周囲環境の情報に依存する指標値であって、且つ、走行中の鞍乗型車両100に対する後続車両の追突可能性の指標値である追突指標値Iと、その後方の周囲環境の情報に依存する指標値であって、且つ、走行中の鞍乗型車両100に対する後続車両の相対距離Drの安定度合いの指標値である安定指標値Jと、を用いて、支援動作の必要性を判定する。そのため、後続車両による追突に対するライダーの支援動作を、確実性の高い判定に基づいて実行することが可能となって、ライダーの安全性が向上する。
Claims (14)
- 鞍乗型車両(100)のライダー支援システム(1)のための処理装置(20)であって、
前記鞍乗型車両(100)の周囲環境情報を取得する取得部(21)と、
前記取得部(21)で取得された前記周囲環境情報に基づいて、前記ライダー支援システム(1)に生じさせるライダーの運転を支援するための支援動作の必要性を判定する判定部(22)と、
前記判定部(22)で前記支援動作が必要であると判定された場合に、実行装置(P)に前記支援動作を実行させる制御部(23)と、
を備えており、
前記周囲環境情報は、前記鞍乗型車両(100)の後方の周囲環境の情報を含み、
前記判定部(22)は、前記後方の周囲環境の情報に依存する指標値であって、且つ、走行中の前記鞍乗型車両(100)に対する後続車両の追突可能性の指標値である追突指標値(I)と基準値との比較結果に基づいて、前記後続車両の前記鞍乗型車両(100)に対する追突可能性が基準よりも高いと判定され、且つ、前記後方の周囲環境の情報に依存する指標値であって、且つ、走行中の前記鞍乗型車両(100)に対する前記後続車両の相対距離(Dr)の安定度合いの指標値である安定指標値(J)と基準値との比較結果に基づいて、前記後続車両が前記鞍乗型車両(100)に対して基準よりも小さい相対速度(Vr)で走行していると判定される場合に、前記支援動作が必要であると判定する、
処理装置(20)。 - 前記追突指標値(I)は、前記後続車両の走行中の前記鞍乗型車両(100)に対する前記相対距離(Dr)、前記相対速度(Vr)、及び相対加速度(Ar)の少なくとも一つに応じて変化する値である、
請求項1に記載の処理装置(20)。 - 前記安定指標値(J)は、前記相対距離(Dr)の変動量が基準量以下に維持される時間に応じて変化する値である、
請求項1又は2に記載の処理装置(20)。 - 前記安定指標値(J)は、前記相対距離(Dr)の基準時間での変動量に応じて変化する値である、
請求項1又は2に記載の処理装置(20)。 - 前記判定部(22)は、前記追突指標値(I)と比較される前記基準値、及び、前記安定指標値(J)と比較される前記基準値の少なくとも一方を、前記ライダーによる設定状態に応じて変化させる、
請求項1~4の何れか一項に記載の処理装置(20)。 - 前記判定部(22)は、前記鞍乗型車両(100)に生じている速度(V)が下限値を下回る、又は、上限値を上回る場合に、前記追突指標値(I)及び前記安定指標値(J)に関わらず、前記支援動作が不要であると判定する、
請求項1~5の何れか一項に記載の処理装置(20)。 - 前記実行装置(P)は、報知装置(30)を含み、
前記支援動作は、前記報知装置(30)によって実行される前記ライダーへの報知動作を含む、
請求項1~6の何れか一項に記載の処理装置(20)。 - 前記実行装置(P)は、警告装置(40)を含み、
前記支援動作は、前記警告装置(40)によって実行される前記後続車両への警告動作を含む、
請求項1~7の何れか一項に記載の処理装置(20)。 - 前記実行装置(P)は、前記鞍乗型車両(100)に設けられている速度制御装置(50)を含み、
前記支援動作は、前記速度制御装置(50)によって実行される、前記鞍乗型車両(100)のアダプティブクルーズコントロールによって該鞍乗型車両(100)に生じる加減速度又は速度を補正する速度補正動作を含む、
請求項1~8の何れか一項に記載の処理装置(20)。 - 前記周囲環境情報は、前記鞍乗型車両(100)に設けられている周囲環境検出装置(11)の出力に応じた情報である、
請求項1~9の何れか一項に記載の処理装置(20)。 - 前記周囲環境情報は、前記鞍乗型車両(100)と異なる車両に設けられている周囲環境検出装置(11)の出力に応じた情報である、
請求項1~9の何れか一項に記載の処理装置(20)。 - 請求項1~11の何れか一項に記載の処理装置(20)を備えている、
鞍乗型車両(100)のライダー支援システム(1)。 - 請求項12に記載のライダー支援システム(1)を備えている、
鞍乗型車両(100)。 - 鞍乗型車両(100)のライダー支援システム(1)のための処理方法であって、
前記ライダー支援システム(1)の処理装置(20)の取得部(21)が、前記鞍乗型車両(100)の周囲環境情報を取得する取得ステップ(S101)と、
前記処理装置(20)の判定部(22)が、前記取得部(21)で取得された前記周囲環境情報に基づいて、前記ライダー支援システム(1)に生じさせるライダーの運転を支援するための支援動作の必要性を判定する判定ステップ(S102)と、
前記処理装置(20)の制御部(23)が、前記判定部(22)で前記支援動作が必要であると判定された場合に、実行装置(P)に前記支援動作を実行させる制御ステップ(S103)と、
を備えており、
前記周囲環境情報は、前記鞍乗型車両(100)の後方の周囲環境の情報を含み、
前記判定ステップ(S102)では、前記判定部(22)が、前記後方の周囲環境の情報に依存する指標値であって、且つ、走行中の前記鞍乗型車両(100)に対する後続車両の追突可能性の指標値である追突指標値(I)と基準値との比較結果に基づいて、前記後続車両の前記鞍乗型車両(100)に対する追突可能性が基準よりも高いと判定され、且つ、前記後方の周囲環境の情報に依存する指標値であって、且つ、走行中の前記鞍乗型車両(100)に対する前記後続車両の相対距離(Dr)の安定度合いの指標値である安定指標値(J)と基準値との比較結果に基づいて、前記後続車両が前記鞍乗型車両(100)に対して基準よりも小さい相対速度(Vr)で走行していると判定される場合に、前記支援動作が必要であると判定する、
処理方法。
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