The present invention relates to a straddle type vehicle provided with a forward-area sensing function.
A four-wheeled vehicle has been proposed (Patent Literature 1), which has Adaptive Cruise (A Control CC) function (hereinafter, this function will be referred to as a preceding vehicle following function or simply a following function) that senses, by using a radar or the like, another vehicle driving in front of the ego-vehicle and causes the four-wheeled vehicle to drive, following the another vehicle.
However, the conventional ACC technique is for four-wheeled vehicles and if the ACC function is applied to two-wheeled vehicles, problems unique to the two-wheeled vehicles would arise. For example, the two-wheeled vehicles are narrow in vehicle width, and therefore can drive with a greater degree of freedom in a vehicle width direction within a lane on which the two-wheeled vehicle is driving. Thus, there would be a case where the preceding vehicle to follow cannot be specified to one vehicle.
An object of the present invention is to provide a straddle type vehicle with a following function that is capable of dealing with a case where a plurality of preceding vehicles are sensed.
According to one aspect of the present invention, provided is a straddle type vehicle (1) having a following cruise function for performing following cruise, comprising: a display unit capable of displaying information of the preceding vehicle at a plurality of display positions aligned in a vehicle width direction of the straddle type vehicle; and a selecting unit configured to select, as a following target, a preceding vehicle from among the plurality of preceding vehicles, wherein, when a plurality of preceding vehicles are sensed, the display unit displays preceding vehicle information respectively for the plurality of preceding vehicles at the display positions corresponding to the preceding vehicles sensed, and a preceding vehicle is selected as the following target by the selection unit from the preceding vehicle information displayed by the display unit.
According to the present invention, it is possible to provide a straddle type vehicle with a following function that is capable of dealing with a case where a plurality of preceding vehicles are sensed.
Referring to the drawings, a straddle type vehicle according to an embodiment of the present invention will be described below. In the description, a direction along a travelling direction of the straddle type vehicle is referred to as a front-back direction, a right-left direction in a state in which a driver is riding is referred to as a vehicle width direction (or a right-left direction), a right direction viewed from the driver is referred to as a right direction, and a left direction viewed from the driver is referred to as a left direction.
[Straddle Type Vehicle]
The straddle type vehicle 1 is a tourer-type motorcycle, which is suitable for a long-distance travel, but it should be noted that the present invention is also applicable to various straddle type vehicles including the other types of motorcycles, and is also applicable not only to vehicles whose driving sources are an internal combustion engine, but also to electric vehicles whose driving source is a motor. Hereinafter, the straddle type vehicle 1 may be referred to as a vehicle 1.
The vehicle 1 includes a power unit 2 between a front wheel FW and a rear wheel RW. The power unit 2 in the present embodiment includes a horizontally opposed-six engine 21 and a transmission 22. A driving force of the transmission 22 is transmitted to the rear wheel RW via a drive shaft (not shown), thereby rotating the rear wheel RW.
The power unit 2 is supported by a vehicle frame 3. The vehicle frame 3 includes a pair of main frames arranged to extend in an X direction and provided on the right and left sides respectively. On an upper portion of the main frames, a fuel tank 5 and an air cleaner box (not illustrated) are provided. In front of the fuel tank 5, a meter panel MP for displaying various information to a rider is provided.
In a front end portion of the main frames, ahead pipe is provided, which supports a steering shaft (not illustrated) so as to be rotatable configured to be rotated by a handlebar 8. In a rear end portion of the main frames, a pair of right and left pivot plates are provided. Lower end portions of the pivot plates are connected with the front end portion of the main frames via a pair of right and left lower arms (not illustrated), and the power unit 2 is supported by the main frame and the lower arms. In a rear end portion of the main frames, a pair of right and left seat rails extended backward is provided. The pair of seat rails supports a seat 4A for the rider to ride thereon, a seat 4b for a fellow passenger to ride together thereon, a rear trunk, and the like. A rear end portion of the seat rails and the pivot plates are connected via a pair of right and left sub frames.
The pivot plates are such that a front end portion of a rear swing arm (not illustrated) extending in the vehicle front-back direction is supported so as to be able to swing freely. The rear swing arm is capable of swinging in an up-and-down direction, and a rear end portion of the rear swing arm supports the rear wheel RW. On a lower portion on a side of the rear wheel RW, an exhaust muffler 6 for muffling sounds of exhaust of an engine 21 is provided to extend along the side of the rear wheel RW. On an upper portion on sides of the rear wheel RW, right and left saddle bags are provided.
On the front end portion of the main frames, a front suspension mechanism 9 for supporting the front wheel FW is configured. The front suspension mechanism 9 includes an upper link, a lower link, a fork supporter, a cushion unit, and a pair of right and left front forks.
[Front Portion Structure]
In a front portion of the vehicle 1, a headlight unit 11 for radiating light to a forward area with respect to the vehicle 1 is provided. The headlight unit 11 in the present embodiment is a twin-lens headlight unit including a right-side light radiating section 11R and a left-side light radiating section 11L positioned symmetrically on right and left positions. However, the headlight unit 11 may be a single-lens headlight unit or a triple-lens headlight unit, or a twin-lens headlight unit including light radiating sections positioned unsymmetrically on right and left positions.
The front portion of the vehicle 1 is covered with a front cover 12, and side portions of the front portion of the vehicle 1 are covered with a pair of right and left side covers, respectively. Above the front cover 12, a screen 13 is provided. The screen 13 is a windshield for alleviating wind pressure that the rider may receive in driving, and may be formed from a transparent resin member, for example. On sides with respect to the front cover 12, a pair of right and left side mirror units 15 is provided, respectively. The side mirror units 15 supports a side mirror (not illustrated) for use by the rider to see and check a backward area.
Behind the front cover 12, sensing units 16 and 17 configured to sense a state of a forward area in front of the vehicle 1 are arranged. In the case of the present embodiment, the sensing unit 16 is a radar (for example, a millimeter-wave radar), but may be another type of sensor that is capable of sensing the forward area through the front cover 12. For example, it may be configured such that, if the sensing unit 16 senses an obstacle in the forward area in front of the vehicle 1, a display to warm the rider will be displayed on the meter panel MP. The sensing unit 16 is provided in a center portion of the front cover 12 between the right and left headlight units.
In the case of the present embodiment, the sensing unit 16 is provided behind a cowl member. The presence of the cowl member can make the presence of the sensing unit 16 less noticeable when viewed from the front of the vehicle 1, thereby making it possible to avoid deterioration of an outer appearance of the vehicle 1. The cowl member is formed from a material that is transmissive with respect to electromagnetic waves, such as a resin.
The configuration in which the sensing unit 16 is positioned in the center portion of the front cover 12 makes it possible for the sensing unit 16 to have a sensing range wider in the right and left directions in the forward area of the vehicle 1, thereby facilitating the sensing of the state of the forward area of the vehicle 1 in such a way as to reduce failures to sense. Moreover, because the forward area of the vehicle 1 can be monitored with the one sensing unit 16 in such a way as to monitor the forward area symmetrically in the left and right direction. Thus, this configuration is especially advantageous in case where only one sensing unit 16 is provided instead of providing a plurality of sensing units 16.
Moreover, the sensing unit 17 is a camera configured to capture an image of the forward area. The sensing unit 17 may be referred to as a camera 17. The cowl member has an opening section in front of the camera 17, or is formed with a transparent member in front of the camera 17, so that the camera 17 can capture the image of the forward area via the opening or the transparent member.
Next, a control unit 100 will be described. The vehicle 1 includes the control unit 100, and the control unit 100 includes a plurality of ECUs 110 to 160 connected communicably to the control unit 100 via an in-vehicle network. Each of the ECUs includes a processor such as a CPU, typically, a storage device such as a semiconductor memory, an interface for communicating with an external device, and the like. The storage device stores programs that the processor executes, or data and the like that the processor uses in processing. Each of the ECUs may include a plurality of the processors, the storage devices, the interfaces, or the like.
In the following, functions and the like that the ECUs 110 to 160 individually have will be described. It should be noted that the vehicle 1 may be designed as appropriate regarding the number of the ECUs and the functions the ECUs individually have, and the functions may be more subdivided or further integrated to have more or less ECUs, compared with the present embodiment.
The ECU 110 is configured to perform control for autonomous driving of the vehicle 1, especially adaptive cruise control (referred to as ACC). The ACC of the present embodiment is configured to perform autonomous control of acceleration and deceleration of the vehicle 1. In a control example described later, the ECU 110 is configured to perform control of speed and acceleration and deceleration of the vehicle in order to follow, with a predetermined distance, a preceding vehicle that is sensed by the sensing unit 16 (radar 16) and/or sensing unit 17 (camera 17). The ECU 110 realizes the ACC by performing cooperative operation with another ECU for example with the ECU. Note that this example is so configured that if braking operation is manually performed, the ACC is cancelled and the vehicle 1 returns to non-ACC manual driving.
The ECU 120 is configured to perform control of the sensing units 16 and 17 for sensing a surrounding state of the vehicle 1, especially an object in the forward area, and to perform information processing of results of the sensing. The object sensed in the forward area is mainly a preceding vehicle, and therefore information of the preceding vehicle, especially information including a direction with respect to the vehicle 1 and a distance from the vehicle 1 is referred to as preceding vehicle information. The sensing units 16 and 17 for obtaining the preceding vehicle information and the ECU 120 for controlling the sensing units 16 and 17 may be referred to as a sensing section, a forward-area monitoring device, or a forward-area monitoring section, as a whole. The sensing unit 17 is a camera for capturing an image of the forward area of the vehicle 1, and in the case of the present embodiment, the sensing unit 17 is provided in the cowl member of the vehicle 1 and above the sensing unit 16. By analyzing the image captured by the camera 17, it is possible to perform extraction of a contour of the object, or the like operation. By analyzing a feature of the contour thus extracted, it is also possible to identify which type of vehicle the vehicle sensed. The type of vehicle includes, for example, whether the vehicle is a two-wheeled vehicle or a four-wheeled vehicle. Furthermore, among the four-wheeled vehicles, it is possible to distinguish whether the four-wheeled vehicle is a standard-sized vehicle or a large-sized vehicle by identifying a size of the four-wheeled vehicle from a distance sensed by the radar 16.
The sensing unit 16 may be a millimeter-wave radar, for example, and is configured to sense an object or objects in a surrounding area of the vehicle 1 and measure the direction and distance of the object from the vehicle 1. In the case of the present embodiment, one radar 16 is provided to face forward, but may be provided to face in another direction. Moreover, the radar 16 is capable of forwardly scanning a predetermined range in the vehicle width direction, thereby sensing an object in the range of the scanning. The range of scanning is substantially in a fan shape whose pivot is at the position where the radar 16 is positioned. The ECU 120 is configured to perform the control of the camera 17 and radar 16, and perform information processing of the sensing results.
The ECU 130 is configured to control the power unit 2. The power unit 2 is a mechanism for outputting a driving force for rotating the driving wheels of the vehicle 1, and may include the engine 21 and the transmission 22, for example. For example, the ECU 130 is configured to control the output of the engine 21 according to a driving operation (accelerator operation or acceleration operation) of the driver sensed by an operation sensing sensor 8a for an accelerator grip provided on the handlebar 8. In case where a driving state of the vehicle 1 is ACC (autonomous driving), the ECU 130 control the speed or acceleration and deceleration of the vehicle 1 by performing autonomous control of the power unit 2 according to an instruction from the ECU 110. Furthermore, ECU 130 may be configured such that, in an ACC mode, the ECU 130 switches over a gear range of the transmission 22 on the basis of information such as vehicle speed sensed by a vehicle speed sensor 7c.
The ECU 140 is configured to control brake devices 10. The brakes 10, which may be, for example, disc brake devices, are provided for the respective wheels of the vehicle 1, and are configured to decelerate or stop the vehicle 1 by applying resistance to wheel rotation. For example, the ECU 140 may be configured to control the operation of the brake device 10 according to a driving operation (brake operation) of the driver sensed by an operation sensing sensor 7b provided for a brake pedal. In case where the driving state of the vehicle 1 is ACC, the ECU 140 controls the deceleration and stopping of the vehicle 1 by performing autonomous control of the brake device 10 according to an instruction from the ECU 110. The brake device 10 may operate to maintain a stopping state of the vehicle 1.
The ECU 150 is configured to perform control of an input device 153 and output devices including a sound output device 151 and a display section 152. The input device 153 is configured to receive an input of information from the driver. In the example illustrated in
The ECU 160 is configured to control communication performed by a communication device 160a. This communication may include, for example, communication with a server device such as obtaining map information for a navigation device (not illustrated), or reception of signals from satellites via a GPS antenna. It should be noted that the control configuration illustrated in
[Following Cruise on ACC Mode]
Next, the following cruise on ACC mode of the vehicle 1 will be described.
In the state illustrated in
[Following Cruise Control]
Referring to
In
Next, from an image captured by the cameral 17, a type of the vehicle is identified by image recognition (S403). The image recognition may be performed by pattern matching or machine learning. For example, the type of vehicle thus specified is stored in association with the direction of the preceding vehicle thus sensed by the radar 16.
Next, the object (preceding vehicle) thus recognized by the radar 16 is displayed on a display frame (that is, a display position) on the display section 152 that corresponds to the direction (S405). In the present embodiment, only the direction of the preceding vehicle is reflected on the display, whereas the distance is not reflected thereon. If no preceding vehicle is sensed, nothing will be displayed.
After that, a selection process for selecting a following target by the driver from among the preceding vehicles thus displayed (S407). When a following target is selected, the display position, on the display section 152, at which the target thus selected is positioned is displayed by highlighted display (S409). In the lower portion of
[Following Target Selecting Process]
The following target determining process at step S407 will be described, referring to
If it is determined that there is more than one preceding vehicle, a key input is waited, and whether or not a determining key portion of the selecting and determining key 153a has been pressed is determined (S505). If the determining key portion is pressed, the process is ended, and the target being selected at the time is determined as the target selected. If it is determined that the determining key has not been pressed, whether or not the key pressed is a navigation key portion of the selecting and determining key is determined (S507), and if the key pressed is not a navigation key, the process will return to step S505, and waits for a key operation of the driver. If a key operation other than these is made, a process corresponding to the key thus pressed may be carried out.
On the other hand, if it is determined that a navigation key portion is pressed, the selected target is changed according to the navigation key portion thus pressed (509). For example, if the rightward navigation key portion is pressed, the preceding vehicle in the section on the right-hand side with respect to the section currently selected will be reselected, and if the leftward navigation key portion is pressed, the preceding vehicle in the section on the left-hand side with respect to the section currently selected will be reselected. Note that the selection by the navigation key portion may be, instead of circulating, such that, if the far most section in one direction is reached, pressing the navigation key portion in the direction again will not change the selected target. This is for example because the driver of a two-wheeled vehicle would operate without looking at his/her hand. So, for example, if the driver pressed a navigation key portion in one direction many times, the driver can select the vehicle in the far most section in the direction. Moreover, if it is configured such that, for example, the upward navigation key portion is pressed in order to select the center section, it becomes possible to carry out the selection operation without looking at the hand.
After that, the display frame corresponding to the section thus selected is displayed by highlighted display (511). After that, pressing of a key is waited, and the process returns to step S505, and repeated until the determining key portion is pressed.
In this way, if there are a plurality of preceding vehicles sensed by the radar, the driver can select one from the plurality of preceding vehicles, and the preceding vehicle thus selected will be displayed on the display section 152 by highlighted display. Moreover, even though the example is configured such that the preceding vehicle thus determined as the following target as well as a preceding vehicle that is not determined but selected are displayed by highlighted display, the following target may be displayed by highlighted display other than that for the preceding vehicle that is not determined but selected. If the display section 152 is capable of performing color display, for example, the highlighted display may be carried out with another color. Moreover, instead of using the strip-shaped portion 304, the highlighted display may be such that the whole frame is highlighted.
If there is another preceding vehicle in a direction where the preceding vehicle thus determined as the following target, a distance and a relative speed with respect to the other preceding vehicle are calculated (S603). The relative speed may be calculated, for example, based on an interval between two scanning times and a difference of distances sensed by respective scanning operations performed at the scanning times. Moreover, if the radar is a radar capable of sensing the speed, the relative speed may be calculated by subtracting a speed sensed by a vehicle speed sensor 7c from the speed sensed by the radar. In this case, each of the speeds may possibly have their velocity vectors in different directions. So, if necessary, compensation for the difference in velocity vectors is carried out. For example, the compensation may be carried out in such a manner that, assuming that both of the vehicles are driving in the same direction, a component, of the speed thus sensed by the radar, in the direction in which the ego-vehicle is driving is taken as the relative speed. This applies to the case where the relative speed is calculated based on the distance and time. Again in this case, the difference is calculated by using the speed component in the direction in which the ego-vehicle is driving. Moreover, for the distance, a distance component in the travelling direction is obtained, so that the distance component is taken as the current distance.
After the distance and relative speed with respect to the following target are obtained as described above, the speed is controlled according to the distance and the relative speed thus obtained (S605). The control of the speed is carried out, for example, by controlling the power unit 2 via the ECU 130 or controlling the brake 10 via the ECU 140. What is aimed is to drive with a predetermined distance (the distance determined at S411) maintained. For example, if a current distance is longer than the targeted distance by a predetermined length or more and the relative speed is negative, the ego-vehicle is accelerated until the relative speed becomes positive. The relative speed after the acceleration may be about several Km/h, for example, but may be more or less depending on the difference between the current distance and the targeted distance. Such control is desirable that, if a current distance is longer than the targeted distance by a predetermined length or more and the relative speed is positive, deceleration of the ego-vehicle be started when the distance to the following target reaches a distance of “the targeted distance+the predetermined length,” and the deceleration is continued until the relative speed becomes zero, so that when the distance to the following target reaches the targeted distance, the relative speed will be zero. Moreover, for example, if the current distance is shorter than “targeted distance−a predetermined length” and the relative speed is positive, the ego-vehicle is decelerated until the relative speed becomes negative. The relative speed after the deceleration may be about—several Km/h, for example, but may be more or less depending on the difference between the current distance and the targeted distance. Such control is desirable that, if a current distance is shorter than the “targeted distance−the predetermined length” and the relative speed is negative, acceleration of the ego-vehicle be started when the distance to the following target reaches a distance of “the targeted distance−the predetermined length,” and the acceleration is continued until the relative speed becomes zero, so that when the distance to the following target reaches the targeted distance, the relative speed will be zero. Such control is carried out not in such a manner that the control is completed at step S605, but in such a manner that the control is gradually carried out by repeatedly carrying out the steps in
After the speed adjustment is carried out, the positions of the preceding vehicles, including the following target, currently sensed by the radar 16 are specified as to which sections of the scanning range of the radar 16 the preceding vehicles are positioned, and the following target and the preceding vehicles are displayed in corresponding display frames accordingly (S607). In displaying them, for the following target, if the position of the following target is changed, not only the icon (image object) indicating the vehicle but also the highlighted display are moved to a display frame corresponding to the new position of the following target after the change.
By the controls described above, if there are a plurality of preceding vehicles sensed by the radar, it is possible for the driver to select one vehicle from among the plurality of preceding vehicles. After the preceding vehicle thus selected is determined as the following target, such driving control is performed that the distance from the ego-vehicle to the preceding vehicle is maintained to the distance that the ego-vehicle had between the ego-vehicle and the preceding vehicle when the ACC was instructed. Especially when selecting the following target, the preceding vehicles are displayed on the display section correspondingly to the directions of the preceding vehicles, so that the driver can select a preceding vehicle from the preceding vehicles thus displayed. With this configuration, in case where a plurality of preceding vehicles is sensed as candidates for the following target for a two-wheeled vehicle driving with a greater degree of freedom in the vehicle width direction, the driver can grasp this situation. Further, this configuration makes it possible to select the following target from the plurality of candidates. Further, this configuration makes it possible for the driver to grasp the types of vehicles from the display, making it easier for the driver to correspond with the current situation.
It should be noted that the camera 17 is not always essential, even though the present embodiment includes the camera 17 in order to specify which type of vehicle the preceding vehicle is. Without the camera 17, it would be difficult to specify the type of vehicle, but sensing a preceding vehicle can be carried out by the radar 16. So, by configuring such that the icon or symbol indicating the preceding vehicle is displayed instead of the icon indicating the type of vehicle, it is also possible to attain such a configuration that the plurality of the preceding vehicles is provided as candidates for the following target, and it is possible to select the following target from among the plurality of the preceding vehicles. Even though the present embodiment is such that braking is part of the control performed by the autonomous driving, the autonomous driving may be configured to control the accelerator but not the brake.
The display section 152-3 illustrated in
Moreover, even though in step S501 in
The embodiment and modifications described above may be summarized as below.
(1) According to a first aspect of the invention of the present application, the present invention is a straddle type vehicle (1) having a following cruise function for performing following cruise to follow a preceding vehicle sensed, characterized by: display means (152) for displaying information of the preceding vehicle, the straddle type vehicle (1) being characterized in that, when a plurality of preceding vehicles are sensed, the display means displays preceding vehicle information respectively for the plurality of preceding vehicles. For two-wheeled vehicle with a high degree of freedom as to their driving positions in the vehicle width direction, this configuration makes it possible for the driver to recognize the state that there is a plurality of preceding vehicles detected as following targets.
(2) According to the second aspect of the invention of the present application, the straddle type vehicle according to (1), is characterized by further including: selecting means (153a) for selecting, as a following target, a preceding vehicle from among the plurality of preceding vehicles. This configuration makes it possible for the driver to select the following vehicle, thereby making it possible to perform the following cruise according to an intention of the driver.
(3) According to a third aspect of the invention of the present application, the straddle type vehicle according to (1) or (2), is characterized by further including: obtaining means (17) for obtaining information regarding types of the preceding vehicles, wherein ways of displaying preceding vehicle information are changed on the basis of information obtained by the obtaining means. This configuration facilitates improvement of distinguishability of information of the preceding vehicles (large-sized vehicle, medium sized-vehicle, small-sized vehicle, and the like) by reflecting information of the preceding vehicles on the display section.
(4) According to a fourth aspect of the invention of the present application, the straddle type vehicle according to any one of (1) to (3) is characterized in that the display means is capable of displaying preceding vehicle information at a plurality of display positions aligned in a vehicle width direction of the straddle type vehicle. This configuration makes it possible to easily recognize vehicle width direction-related information of the preceding vehicle to be the following target.
(5) According to a fifth aspect of the invention of the present application, the straddle type vehicle according to any one of (1) to (4) is characterized in that the display means is capable of displaying preceding vehicle information at a plurality of display positions aligned in a vehicle front-back direction of the straddle type vehicle. This configuration makes it possible to easily recognize vehicle front-back direction-related information of the preceding vehicle to be the following target.
(6) According to a sixth aspect of the invention of the present application, the straddle type vehicle according to (4) or (5) is characterized in that the display means displays preceding vehicle information at the display positions corresponding to positions of the preceding vehicles sensed. This configuration makes it possible to easily grasp the positional relationship of the preceding vehicle to be the following target.
(7) According to a seventh aspect of the invention of the present application, the straddle type vehicle according to any one of (1) to (6) is characterized by further comprising: sensing means (16, 17) for sensing preceding vehicles and providing information of the preceding vehicles. This configuration makes it possible to obtain the information of the following target by the sensing means.
The present invention is not limited to the above embodiments and various changes and modifications can be made within the spirit and scope of the present invention. Therefore, to apprise the public of the scope of the present invention, the following claims are made.
This application is a continuation of International Patent Application No. PCT/JP2018/011412 filed on Mar. 22, 2018, the entire disclosures of which is incorporated herein by reference.
Number | Date | Country | |
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Parent | PCT/JP2018/011412 | Mar 2018 | US |
Child | 17012185 | US |