JP2017095089A5

JP2017095089A5 -

Info

Publication number: JP2017095089A5
Application number: JP2016218028A
Authority: JP
Filing date: 2016-11-08
Publication date: 2021-01-07
Anticipated expiration: 2036-11-08

Description

独国特許出願公開第１０２０１２２０７９８１号明細書German Patent Application Publication No. 102012207981

本課題は、請求項１に記載の特徴を有する運転手アシスタント装置、請求項１３に記載の特徴を有する動力車両、並びに、請求項１５に記載の特徴を有する方法によって、解決される。本発明の有利な、乃至、好ましい実施形態は、従属請求項、以下の明細、並びに、図によって示される。 This problem is solved by a driver assistant device having the characteristics according to claim 1, a motor vehicle having the characteristics according to claim 13 , and a method having the characteristics according to claim 15 . Advantageous or preferred embodiments of the present invention are shown by the dependent claims, the following specifications, and the figures.

運転手、特に、ライダーが、カーブ領域の中央の車線境界付近を走行中、側方に傾斜できる動力車両は、自車線内にまだあるものの、大きな傾きにより、ライダーの上半身は既に対向車線にはみ出していることがあり得る。対向車線への上半身のオーバーハングの原因は、例えば、急な、見通しの悪いカーブ領域、速度超過、経験不足、不安定な運転、或いは、狭すぎる車線などである。特に、運転手には、シグナル出力により、カーブ領域におけるオーバーハングを回避するための能動的な、及び／或いは、受動的なサポートが提供される。この様にすることで、運転手、同乗者、並びに、他の交通参加者の道路交通における安全性が、向上する。 While there are still powered vehicles in their lane that allow the driver, especially the rider, to lean sideways while driving near the central lane boundary of the curve area, the large tilt already causes the rider's upper body to squeeze into the oncoming lane. It is possible that It causes the upper body of the overhang to the opposite lane, for example, steep, bad visibility curve area, overspeed, lack of experience, an unstable operation, or the like too narrow lane. In particular, the signal output provides the driver with active and / or passive support to avoid overhangs in the curved region. By doing so, the safety of the driver, passengers, and other traffic participants in road traffic is improved.

特に好ましくは、該評価手段は、側方に傾斜できる動力車両のその時点の操舵角を割り出すように構成されている。その時点の操舵角は、将来的軌道の、並びに、将来的傾斜角の正確な評価にとって決定的な車両状態情報を提供する。 Particularly preferably, the evaluation means is configured to determine the current steering angle of the motor vehicle that can tilt laterally. The steering angle at that time provides definitive vehicle condition information for an accurate assessment of future trajectories as well as future tilt angles.

運転手アシスタント装置１は、評価手段４を備えているが、該評価手段４には、該センサーユニット３が、捕捉された周辺領域を包含するセンサーデータを伝達するために接続されている。評価手段４は、センサーユニット３から伝達されたセンサーデータを基に、自車線５の対向車線６に対する車線境界Ｂ１を評価する。この実施例では、車線境界Ｂ１は、中央の走行レーンマークによって示されている。但し、中央の車線マークがない場合は、対向車線６に対する車線境界Ｂ１は、側方の車線境界Ｂ２を評価することによって割り出しできることが想定されていることが好ましい。側方の車線境界Ｂ２は、例えば、側方の道路境界マーク、或いは、車線を区画するオブジェクト、例えば、ガードレールや縁石であることができる。好ましくは、側方の車線境界Ｂ２間の間隔Ｘが、割り出され、割り出された間隔Ａを半分に割ることにより、車線境界Ｂ１を割り出す。 The driver assistant device 1 includes the evaluation means 4, and the sensor unit 3 is connected to the evaluation means 4 in order to transmit sensor data including the captured peripheral area. The evaluation means 4 evaluates the lane boundary B1 with respect to the oncoming lane 6 of the own lane 5 based on the sensor data transmitted from the sensor unit 3 . In this embodiment, the lane boundary B1 is indicated by a central travel lane mark. However, if there is no central lane mark, it is preferable that the lane boundary B1 with respect to the oncoming lane 6 can be determined by evaluating the side lane boundary B2. The side lane boundary B2 can be, for example, a side road boundary mark, or an object that divides the lane, such as a guardrail or a curb. Preferably, the distance X between the side lane boundaries B2 is calculated, and the lane boundary B1 is calculated by dividing the calculated distance A in half.

更なる可及的実施形態においては、制御手段７は、出力されるシグナルによって動力車両２の制動を制御することができるように構成されている。この場合、シグナルは、例えば、動力車両２のブレーキ手段に対して出力される。速度の低下により、運転手には、走行ミスの修正が、特に、カーブ領域への侵入と通過が、容易になる。その結果、運転手と他の交通参加者の安全性向上が、達成される。 In a further possible embodiment, the control means 7 is configured to be able to control the braking of the power vehicle 2 by the output signal. In this case , the signal is output to, for example, the braking means of the power vehicle 2. The reduced speed makes it easier for the driver to correct driving mistakes, especially in and through curve areas. As a result, improved safety of the driver and other traffic participants is achieved.

Claims

A sensor unit (3) for capturing the peripheral area in front of the motor vehicle (2) that can tilt to the side, and
The lane boundary (B1) of the own lane (5) of the power vehicle (2) that can incline to the side with respect to the oncoming lane (6) can be determined based on the sensor data transmitted from the sensor unit (3). Constructed evaluation means (4),
However, the evaluation unit (4) is configured to determine the future trajectory (T1) of the motor vehicle (2) that can be tilted to the side in the curve area is approaching forward, and,
The evaluation means (4) is a driver (F) to the oncoming lane (6) based on the determined lane boundary (B1) and the future track (T1) in the curve region approaching the front. It is configured to assess the future overhang (U) of the upper body,
In addition, when the evaluation means (4) evaluates that there is a future overhang (U), the control means configured to be able to output a signal for correcting the future trajectory (T1) ( A driver assistant device (1) that supports the driver (F) when maneuvering a motor vehicle (2) that can tilt sideways in a curved region characterized by including 7).

Sensor unit (3) is, Le Za means, and / or the driver assistant system according to claim 1, characterized in that it includes a radar unit (3a, 3b, 3c) and (1).

The driver assistant device (1) according to claim 1 or 2, wherein the sensor unit (3) includes an image capturing means (3a).

The image capturing means (3a) is a motor vehicle which can be inclined laterally (2), and / or the driver of claim 3, characterized in that it is arranged on the helmet of the driver (F) Assistant device (1).

Based on the evaluated future track (T1), the evaluation means (4) determines the future horizontal distance (A) of the motor vehicle (2) capable of tilting sideways with respect to the determined lane boundary (B1). Determining and determining the future overhang (U) along the evaluated future track (T1) with the indexed horizontal spacing (A) and the power vehicle (2) capable of tilting sideways. driver assistant system according to any one of the 請Motomeko 1 you characterized in that it is configured so that it can be voted by the future inclination angle (α) 4 (1).

Future trajectory (T1), and / or, said evaluation means for evaluating future inclination angle (α) (4) is the power that can be inclined curve of the consequences of the curve area is approaching forward, sideways vehicle yaw rate at the time of (2), and / or the driver assistant system according to claim 5, characterized in that it is configured to be able to determine the speed of that time (1).

The third or fourth aspect of the present invention, wherein the evaluation means (4) is configured so that the course of the curve can be determined from at least one image taken by the image capturing means (3a). Driver assistant device (1).

Future trajectory (T1), and / or a feature in that the evaluation means for evaluating future inclination angle (α) (4) is configured to be able to evaluate a steering angle at that time The driver assistant device (1) according to claim 5 or 6 .

Control means (7) is, by a signal which is output to and characterized by being configured to control the output of the additional information to the driver for causing modification of the future trajectory (T1) (F) driver assistant device according to 請Motomeko 1 in any one of 8 that (1).

The additional information is, running instruction, and / or the driver assistant system according to claim 9, characterized in that the rate recommended (1).

The additional information, tactile, audible, and / or the driver assistant system according to claim 9 or 10, characterized in that a visual warning signal (1).

The additional information is, running instruction, the speed recommended, and / or a audible warning signal, control means (7) is running instruction, the speed recommended, and / or, the auditory output warning signal driver assistant system according to, in claim 9, characterized in that it is communication means coupled incorporated in the helmet of the driver (F) for (1).

Motor vehicle which can be inclined laterally equipped driver assistant system for supporting driver (F) to (1) in curve areas according to any one of請Motomeko 1 to 12 (2).

Characterized in that the motor vehicle which can be tilted to the side direction (2) encompasses a communication means for outputting a driving additional information to the hand (F) for the future trajectory (T1) Osamu Tadashisa The motor vehicle (2) that can be inclined to the side according to claim 13 .

Supporting the driver (F) when operating a power vehicle (2) capable of tilting sideways in a curve region using the driver assistant device (1) according to any one of claims 1 to 12. A method characterized by including the following steps to carry out:
a) A step to capture the peripheral area in front of the motor vehicle (2) that can tilt sideways;
b) A step of determining the lane boundary (B1) with respect to the oncoming lane (6) of the own lane (5) of the power vehicle (2) that can incline to the side;
c) The step of determining the future track (T1) of the motor vehicle (2) that can incline sideways in the curve region approaching forward;
d) A step of evaluating the future overhang of the driver (F) on the oncoming lane (6) of the upper body based on the determined lane boundary (B1) and the future track (T1);
e) If it is assessed that there is a future overhang (U), the step of outputting a signal to carry out a correction of the future trajectory (T1).