JP2010030437A - Vehicle condition display apparatus and method of parallel two-wheeled vehicle - Google Patents

Abstract

[PROBLEMS] To solve a problem peculiar to a parallel two-wheeled vehicle in a means for displaying a state related to a vehicle to the outside.
The present invention relates to a vehicle state display device for a parallel two-wheeled vehicle having vehicle state detection means for detecting a state relating to the vehicle and display means for notifying information detected by the vehicle state detection means to the outside. The vehicle state detection unit 2 includes a traveling state detection unit 5 that detects a traveling state including at least a deceleration state based on the relationship between the speed and acceleration of the vehicle. The traveling state detection means 5 determines that the vehicle is in a decelerating state when the speed is positive and the acceleration is negative.
[Selection] Figure 1

Description

  The present invention relates to a parallel motorcycle, and more particularly to a technique for notifying a vehicle state such as a traveling state to the outside.

  In recent years, development of a parallel two-wheeled vehicle including two wheels arranged in parallel on the same axis has been advanced. In vehicles such as automobiles and motorcycles, for example, a display device (typically, a brake lamp, a back lamp, etc.) for notifying the outside of the traveling state such as deceleration, reverse traveling, etc. is provided. Should also be provided for parallel motorcycles.

In Patent Document 1, a parallel two-wheeled vehicle (vehicle device) including the display device as described above is disclosed. The parallel two-wheeled vehicle according to Patent Document 1 includes a state detecting unit that detects a traveling state of a vehicle body or a state related to traveling, and a display unit that displays a traveling state or a traveling related state of the vehicle body detected by the state detecting unit. Are provided. Thereby, while being able to recognize the driving | running | working state of a vehicle and a driving | running | working related state, the driver | operator himself / herself can be notified now.
JP 2005-335570 A

  However, parallel motorcycles have a problem that it is difficult to accurately detect the traveling state as compared to ordinary vehicles such as automobiles. This is because parallel motorcycles often do not have a mechanism corresponding to a brake, an accelerator, or the like provided in a normal vehicle, and it is not possible to simply determine the running state based on detection of an operation on these mechanisms. It is. Further, in a parallel motorcycle, a specific vehicle state that should not be monitored in a normal vehicle such as an automobile, for example, an execution state of posture control for stabilizing an inverted posture, a passenger's foot portion and a riding portion There is a contact state and the like, and a means capable of appropriately notifying such a state to the outside (including the passenger) is necessary.

  Therefore, an object of the present invention is to solve a problem peculiar to a parallel two-wheeled vehicle in a means for displaying a state related to a vehicle facing outside.

  In order to solve the above-described problems, the present invention provides a vehicle for a parallel two-wheeled vehicle having vehicle state detection means for detecting a state relating to the vehicle and display means for displaying information for detecting information detected by the vehicle state detection means to the outside. In the state display device, the vehicle state detecting unit includes a traveling state detecting unit that detects a traveling state including at least a deceleration state based on a relationship between the speed and acceleration of the vehicle.

  As described above, even in a parallel two-wheeled vehicle having no brake pedal or the like, various traveling states including a deceleration state of the vehicle can be detected by analyzing the relationship between the traveling speed and the acceleration. Then, the detected traveling state can be notified to surrounding people and the passenger himself / herself by display means such as a lamp provided on the vehicle body.

  In addition, it is preferable that the traveling state detection unit determines that the vehicle is in a deceleration state when the speed is positive and the acceleration is negative.

  Further, the running state detecting means includes a speed detecting means for detecting a temporal change in the speed of the vehicle, an acceleration detecting means for detecting a temporal change in acceleration based on the speed detected by the speed detecting means, A filter means for applying a filter process for removing noise to the acceleration detected by the acceleration detection means, and a time lag between the acceleration after the filter process and the speed detected by the speed detection means is corrected. It is preferable to have a correcting means.

  The speed and acceleration can be obtained from a measured value obtained by a device such as a tachometer provided in a wheel or a drive motor, for example. Noise is included in such a measured value or a calculated value obtained from the measured value. May be included. Therefore, in order to remove such noise, it is effective to apply a filter process to the acceleration calculated from the speed. However, this filter process causes the acceleration to be delayed with respect to the time axis of the speed. May end up. Therefore, by performing processing for correcting this delay, the relationship between the speed and the acceleration can be accurately grasped, and the traveling state of the vehicle can be accurately detected.

  Specifically, it is preferable that the correction unit determines that the deceleration state has been entered when the acceleration after the filter processing is equal to or less than a threshold value k that satisfies k> 0.

  Theoretically, when the speed is positive and the acceleration is less than 0, it is determined that the vehicle has entered the deceleration state. However, as described above, the acceleration is less than 0 in consideration of the acceleration delay caused by the filter processing. It is preferable to determine that the vehicle has entered a deceleration state when reaching a large k. As a result, the acceleration delay due to the filter processing is absorbed, and the deceleration state can be accurately detected.

  Further, the display means should have a deceleration state display unit for displaying the deceleration state.

  Further, it is preferable that the traveling state detection unit determines that the vehicle is in a reverse state when the speed is negative, and the display unit includes a reverse state display unit that displays that the vehicle is in the reverse state. .

  Thus, by notifying the reverse state to the outside, safety can be improved as in the deceleration state.

  Moreover, it is preferable that the said display means has a speed state display part which performs the display corresponding to the level of the said speed.

  Thus, safety can also be improved by informing the outside of the traveling speed of the vehicle.

  The present invention also provides a vehicle state display device for a parallel two-wheeled vehicle, comprising vehicle state detection means for detecting a state relating to the vehicle, and display means for notifying information detected by the vehicle state detection means to the outside. The state detection unit includes a power state detection unit that detects a remaining amount of power, and the display unit includes a power remaining amount display unit that performs display indicating the remaining amount of power.

  In this way, by notifying the outside of the power source, particularly the passenger, it is possible to prevent an unexpected stop due to running out of the battery and to improve safety.

  The present invention also provides a vehicle state display device for a parallel two-wheeled vehicle, comprising vehicle state detection means for detecting a state relating to the vehicle, and display means for notifying information detected by the vehicle state detection means to the outside. The state detection means includes a boarding state detection means for detecting a contact state between a riding section provided in the vehicle and a passenger's foot, and the display means displays a foot contact state display for displaying the contact state. It has a part.

  In this way, by notifying the passenger himself / herself whether or not the passenger's feet are in proper contact with the predetermined place, appropriate operations can be performed and safety can be improved.

  The present invention also provides a vehicle state display device for a parallel two-wheeled vehicle, comprising vehicle state detection means for detecting a state relating to the vehicle, and display means for notifying information detected by the vehicle state detection means to the outside. The state detection means has control state detection means for detecting whether or not posture control that stabilizes the posture of the vehicle can be executed, and the display means displays a detection result by the control state detection means. It is what has.

  In this way, in particular, by notifying the passenger himself / herself about the current control state of the vehicle, an appropriate operation can be performed and safety can be improved.

  Further, the control state detection means can determine whether or not the posture control can be executed based on a contact state between a riding portion provided on the vehicle and a passenger's foot and a posture of the vehicle. preferable.

  In this way, whether or not the controllable state can be determined can be correctly determined based on the contact state of the passenger's foot and the posture of the vehicle.

  Moreover, this invention is invention of the method corresponding to the vehicle state display apparatus of the said parallel two-wheeled vehicle. The operation and effect according to the vehicle state display method of the parallel motorcycle is the same as that according to the device.

  According to the present invention, a problem peculiar to a parallel two-wheeled vehicle can be solved in the means for displaying the state relating to the vehicle toward the outside.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows a basic configuration of a vehicle state display device (hereinafter abbreviated as this device) 1 for a parallel motorcycle according to the present embodiment. The apparatus 1 includes a vehicle state detection unit 2 that detects a state related to a vehicle (parallel motorcycle), and a display unit 3 that informs the information detected by the vehicle state detection unit 2 to the outside.

  The vehicle state detection unit 2 according to the present embodiment includes a traveling state detection unit 5, a power state detection unit 6, a boarding state detection unit 7, and a control state detection unit 8.

  The running state detecting means 5 detects various running states based on the relationship between the speed and acceleration of the vehicle. For example, when the speed is positive and the acceleration is negative, the vehicle is in a decelerating state. It is determined that there is. The power supply state detection means 6 detects the remaining amount of the power supply mounted on the vehicle. The boarding state detection means 7 detects a contact state between a boarding part provided in the vehicle and a foot part of the passenger. The control state detection means 8 detects whether or not posture control that stabilizes the posture of the vehicle can be executed.

  The display means 3 according to the present embodiment includes a deceleration state display unit 10, a reverse state display unit 11, a speed state display unit 12, a power remaining amount display unit 13, a foot contact state display unit 14, and a control state display unit 15. Have.

  When the traveling state detecting means 5 determines that the vehicle is in a decelerating state, the decelerating state display unit 10 informs the outside (a person in the vicinity or the passenger) that the vehicle is decelerating. Display. The reverse drive state display unit 10 performs a display for notifying the outside that the vehicle is in the reverse drive state when the travel state detection unit 5 determines that the vehicle is in the reverse drive state. The speed state display unit 12 performs display corresponding to the level of speed on the outside based on the speed information detected by the traveling state detection means 5. The power remaining amount display unit 14 displays the remaining amount of power detected by the power state detection means 6 to the outside. The said foot contact state display part 14 displays the contact state of the boarding part detected by the said boarding state detection means 7, and a passenger | crew's leg part with respect to the exterior. The control state display unit 15 displays information regarding whether or not the posture control detected by the control state detection unit 8 can be executed to the outside.

  Further, as shown in FIG. 2, the traveling state detection unit 5 includes a speed detection unit 21, an acceleration detection unit 22, a filter unit 23, and a correction unit 24.

  The speed detecting means 21 detects a temporal change in the speed of the vehicle, and is configured by cooperation of a known measuring device such as a tachometer, a CPU, a storage device (ROM, RAM, etc.), a predetermined program, and the like. can do.

  The acceleration detection means 22 detects a temporal change in acceleration based on the speed detected by the speed detection means 21, and is configured by cooperation of a CPU, a storage device, a predetermined program, and the like. it can.

  The filter means 23 performs a filtering process for removing noise on the acceleration detected by the acceleration detecting means 22, and is a well-known LPF (low-pass filter) circuit, CPU, storage device, predetermined It can be constituted by cooperation of the program etc.

  The correction means 24 corrects a time lag between the acceleration after the filter processing and the speed detected by the speed detection means 21, and is configured by cooperation of a CPU, a storage device, a predetermined program, and the like. can do.

  According to this device 1 having the above configuration, even in a parallel two-wheeled vehicle without a brake pedal or the like, various traveling states including a deceleration state of the vehicle can be detected by analyzing the relationship between the traveling speed and acceleration. it can. Then, the detected traveling state can be notified to surrounding people and the passenger himself / herself by display means such as a lamp provided on the vehicle body.

  The speed and acceleration obtained by measurement and calculation may include noise. According to the running state detection means 5, the noise is removed by the filter means 23 and the correction means 24 Since the time lag caused by the filtering process is corrected, the deceleration state and the like can be accurately detected.

  Hereinafter, specific configuration examples to which the present apparatus 1 is applied will be described with reference to FIGS. 3A and 3B show a schematic configuration of a parallel motorcycle 30 to which the present apparatus 1 is applied. This parallel two-wheeled vehicle 30 includes an electric motor or the like in which wheels 32L and 32R are arranged coaxially and parallel to a riding part 31 on which a passenger rides, and independently generates a driving force for each of the wheels 32L and 32R. Drive devices 33L and 33R. Various sensors or switches for detecting the passenger's state (contact state between the passenger's foot 31 and the passenger's foot) are arranged on the passenger's part 31, and a handle 34 that the passenger grips during operation is erected. ing. The drive devices 33L and 33R are provided with tachometers 35L and 35R capable of detecting the rotational speed and direction of the wheels 32L and 32R, respectively. Further, a lamp 36 is installed at the rear end of the riding section 31, and a display panel 37 is installed at the upper end of the handle 34. 3A and 3B, a coordinate system corresponding to the parallel two-wheeled vehicle 30 is shown. The vertical direction with respect to the axle is the X axis, the axle direction is the Y axis, the vertical direction is the Z axis, The angle around the axle is defined as the pitch axis angle θ.

  FIG. 4 shows a specific configuration of the parallel motorcycle 30. The parallel motorcycle 30 includes a control calculation device 41, a passenger detection sensor 42, an attitude detection sensor 43, a drive device 44, motors 33L and 33R, tachometers 35L and 35R, a power supply device 47, and a display device 48.

  The control arithmetic unit 41 is configured by cooperation of a CPU, a storage device (ROM, RAM, etc.), a predetermined program, and the like. Detection signals from an occupant detection sensor 42 and an attitude detection sensor 43 described later, the motor 33L, Based on a feedback signal from 33R, etc., a control command τ for the drive device 44 is generated and output. The drive device 44 composed of an actuator or the like receives the control command τ, generates a predetermined drive torque, and supplies this to the motors 33L and 33R as a drive command. Thereby, the attitude control of the parallel motorcycle 30 is executed. Note that a description of the method for generating the control command τ is omitted (see, for example, JP 2007-331443 A). Further, the control arithmetic device 41 according to the present embodiment includes a detection signal from the tachometers 35L and 35R, a detection signal from the occupant detection sensor 42, a detection signal from the attitude detection sensor 43, and the power supply device 47. On the basis of the voltage value signal from the vehicle, signals indicating various vehicle states are generated and output to the display device 48. This point will be described in detail later.

  The occupant detection sensor 42 is a plurality of sensor groups for detecting a contact state between the occupant 31 and the occupant's foot, and includes, for example, a weight sensor 51, a proximity sensor 52, a contact sensor 53, and the like. The The detection results by these sensors 51, 52, 53 are output to the control arithmetic unit 41, and whether the passenger's both feet are in contact with the riding portion 31, only one foot is in contact, or the passenger is on the riding portion 31. Or on which position on the riding part 31 is used. In addition, as these sensors 51, 52, and 53, those having a known configuration and operational effects can be appropriately selected and used.

  The posture detection sensor 43 is a plurality of sensor groups for detecting the posture of the parallel two-wheeled vehicle 30 and includes, for example, a gyro sensor 55 and an acceleration sensor 56. The detection results of these sensors 55 and 56 are output to the control arithmetic unit 41 and used for calculation of the pitch axis angle θ and the pitch axis angular velocity ω used for the attitude control. In addition, as these sensors 55 and 56, what has a known structure and an effect can be selected suitably, and can be used.

  The tachometers 35L and 35R detect the rotation speed and rotation direction of the motors 33L and 33R, and the detection result is output to the control arithmetic unit 41, and the vehicle speed v, the vehicle acceleration a, and the vehicle It is used to detect the direction of travel. As the tachometers 35L and 35R, those having a well-known configuration and operational effects can be appropriately selected and used.

  The power supply device 47 supplies driving power to each component of the parallel two-wheeled vehicle 30, and is constituted by a known rechargeable battery or the like. Information relating to the voltage and the like generated by the power supply device 47 is output to the control arithmetic device 41 and used to generate battery remaining amount information.

  The display device 48 includes the lamp 36, the display panel 37, and the like, and informs the outside of various vehicle states detected by the control arithmetic device 41.

  A method for detecting the traveling state of the parallel motorcycle 30 based on the relationship between the speed v and the acceleration a will be described with reference to FIGS. 5 and 6, the broken line indicates the velocity v, and the solid line indicates the acceleration a. In FIG. 5, in a section (v> 0) where the speed v is a positive value, the vehicle travels forward, and in a section (v <0) where the speed v is a negative value, the vehicle travels backward. It shows that it is going. A section where the acceleration a is a positive value (a> 0) indicates that the vehicle is in an acceleration state, and a section where the acceleration a is a negative value (a <0) indicates that the vehicle is in a deceleration state. ing. In particular, as shown in FIG. 6, in a section S (v> 0, a <0) where the speed v is positive and the acceleration a is negative, the vehicle is in a decelerated state while traveling forward, In a vehicle such as a motorcycle, the brake lamp is turned on.

FIG. 7 shows a control flow when displaying the traveling state detected as described above on the display device 48. First, the speed v for each predetermined unit time period is acquired by the tachometers 35L and 35R and stored in the memory. Based on the stored speed information, the acceleration corresponding to the same time axis as the speed v is obtained. The change of a is calculated (S101). The acceleration a can be calculated by, for example, the following formula (1).
a = (v _now −v _old ) / dt (1)
Note that v _now is the vehicle speed at the time of measurement, v _old is the vehicle speed one unit time period before, and dt indicates the unit time period.

  Next, it is determined whether or not the speed v is a positive value (S102). If it is determined that the speed v is not positive (N: v <0), it is determined that the vehicle is in a reverse traveling state (S103). ), A display indicating that the vehicle is traveling backward, that is, a display corresponding to a back lamp in a normal automobile or the like is performed by the display device 48 (S104). On the other hand, if it is determined in step S102 that the speed v is a positive value (Y), it is next determined whether or not the acceleration a is a positive value (S105).

  If it is determined in step S105 that the acceleration a is not positive (N: v> 0, a <0), it is determined that the vehicle is in a deceleration state during forward travel (S106), and the vehicle is in a deceleration state. A display indicating that it is present, that is, a display corresponding to a brake lamp in a normal automobile or the like is performed (S107). On the other hand, if it is determined in step S105 that the acceleration a is positive (Y: v> 0, a> 0), it is determined that the vehicle is in an acceleration state during forward travel (S108). Is not displayed.

  Next, in FIG. 8 and FIG. 9, a description will be given of a process for performing a filter process on the acceleration a and correcting a time lag caused by the filter process. As shown in FIG. 8A, the acceleration a calculated based on the speed v measured by the tachometers 35L and 35R may include noise (high frequency component). FIG. 8B shows a post-filter acceleration fa obtained by performing filter processing on the acceleration a including noise using an LPF circuit or the like. The post-filter acceleration fa has a smooth waveform with unnecessary high frequency components removed, and is delayed for a predetermined time from the original acceleration a waveform. For this reason, the post-filter acceleration fa is not in time correspondence with the speed v.

  Therefore, as shown in FIG. 9, when the post-filter acceleration fa reaches a threshold value k greater than 0, it is determined that the vehicle has entered a section S indicating a forward deceleration state, thereby delaying the filter process. Can be eliminated.

  FIG. 10 shows a control flow when the filtering process and the correction process as described above are performed. First, the speed v for each predetermined unit time period is acquired by the tachometers 35L and 35R and stored in the memory, and the acceleration corresponding to the same time axis as the speed v is based on the stored speed information. The change of a is calculated (S201). Next, a filter process for removing noise is performed on the acceleration a to generate a post-filter acceleration fa (S202).

  Next, it is determined whether or not the speed v is a positive value (S203). If it is determined that the speed v is not positive (N: v <0), it is determined that the vehicle is in a reverse traveling state (S204). ), A display indicating that the vehicle is traveling backward, that is, a display corresponding to a back lamp in a normal automobile or the like is performed by the display device 48 (S205). On the other hand, if it is determined in step S203 that the speed v is a positive value (Y), it is then determined whether or not the post-filter acceleration fa is equal to or less than a threshold value k (k> 0) (S206). ).

  If it is determined in step S206 that the filtered acceleration fa is equal to or less than the threshold value k (Y: v> 0, fa ≦ k), it is determined that the vehicle is in a deceleration state during forward travel (S207). Then, a display indicating that the vehicle is in a deceleration state, that is, a display corresponding to a brake lamp in a normal automobile or the like is performed (S208). On the other hand, if it is determined in step S206 that the post-filter acceleration fa is not less than k (N: v> 0, fa ≧ k), it is determined that the vehicle is in an acceleration state during forward travel (S209). ), Nothing is displayed.

  Next, in FIG. 11, the control when performing display in accordance with the level of the speed v will be described. First, the speed v is detected by the tachometers 46L and 46R (S301), it is determined whether or not the speed v is greater than a preset speed v_low (S302), and it is determined that the speed v is not greater than v_low. In the case (N), it is displayed on the display panel 37 (see FIG. 3) and other display devices that the speed v is equal to or lower than the speed v_low (S303).

  On the other hand, if it is determined in step S302 that the speed v is greater than the speed v_low (Y), it is then determined whether the speed v is greater than the speed v_mid (S304). There is a relationship of v_mid> v_low. If it is determined in step S304 that the speed v is not greater than the speed v_mid (N), it is displayed on the display panel 37 or the like that the speed v is equal to or higher than the speed v_low (S305).

  On the other hand, if it is determined in step S304 that the speed v is greater than the speed v_mid (Y), it is then determined whether or not the speed v is greater than the speed v_hi (S306). There is a relationship of v_hi> v_mid. If it is determined in step S306 that the speed v is not greater than the speed v_hi (N), it is displayed on the display panel 37 or the like that the speed v is equal to or higher than the speed v_mid (S307).

  On the other hand, if it is determined in step S306 that the speed v is greater than the speed v_hi (N), it is then determined whether or not the speed v is greater than the speed v_limit (S308). There is a relationship of v_limit> v_hi. If it is determined in step S308 that the speed v is not greater than the speed v_limit (N), it is displayed on the display panel 37 or the like that the speed v is equal to or higher than the speed v_hi (S309).

  On the other hand, if it is determined in step S308 that the speed v is greater than the speed v_limit (Y), it is displayed on the display panel 37 or the like that the speed v is equal to or higher than the speed v_limit (S310).

  Thus, safety can be improved by notifying the passenger himself / herself and the surrounding people of the traveling speed of the vehicle.

  Next, control when displaying the remaining power level Bat_now in FIG. 12 will be described. First, by monitoring the voltage generated by the power supply 47, the remaining power level Bat_now is detected (S401), and it is determined whether or not this remaining power level Bat_now is greater than a preset remaining power level Bat_empt. (S402) When it is determined that it is not larger than Bat_empt (N), it is displayed on the display panel 37 or the like that the remaining amount of power is substantially empty (S403).

  On the other hand, if it is determined in step S402 that the remaining power level Bat_now is greater than the remaining power level Bat_empt (Y), it is then determined whether the remaining power level Bat_now is greater than the remaining power level Bat_low. (S404). There is a relationship Bat_empt> Bat_low. When it is determined in step S404 that the remaining power level Bat_now is not greater than the remaining power level Bat_low (N), the remaining power level Bat_now is between the remaining power level Bat_low and Bat_empt on the display panel 37 or the like. (S405).

  On the other hand, if it is determined in step S404 that the remaining power level Bat_now is greater than the remaining power level Bat_low (Y), it is then determined whether the remaining power level Bat_now is greater than the remaining power level Bat_mid. (S406). There is a relationship Bat_mid> Bat_low. If it is determined in step S406 that the remaining power level Bat_now is not greater than the remaining power level Bat_mid (N), it is displayed on the display panel 37 or the like that the remaining power level Bat_now is greater than or equal to the remaining power level Bat_low. (S407).

  On the other hand, if it is determined in step S406 that the remaining power level Bat_now is greater than the remaining power level Bat_mid (N), it is then determined whether the remaining power level Bat_now is greater than the remaining power level Bat_hi. (S408). There is a relationship Bat_hi> Bat_mid. If it is determined in step S408 that Bat_now is not greater than the remaining power level Bat_hi (N), it is displayed on the display panel 37 or the like that the remaining power level Bat_now is greater than or equal to the remaining power level Bat_mid (S409). ).

  On the other hand, if it is determined in step S408 that the remaining power level Bat_now is greater than the remaining power level Bat_hi (N), it is then determined whether the remaining power level Bat_now is greater than the remaining power level Bat_full. (S410). There is a relationship Bat_full> Bat_hi. If it is determined in step S410 that Bat_now is not greater than the remaining power level Bat_full (N), the display panel 37 or the like displays that the remaining power level Bat_now is greater than or equal to the remaining power level Bat_hi (S411). ).

  On the other hand, if it is determined in step S410 that the remaining power level Bat_now is larger than the remaining power level Bat_full (Y), the display panel 37 or the like is displayed as being fully charged (S412).

  Thus, by notifying the passenger himself / herself and the surrounding people of the remaining amount of power, unexpected stoppage due to running out of the battery can be prevented, and safety can be improved.

Next, the control when displaying the boarding state of the passenger and the control state of the parallel motorcycle 30 in FIG. 13 will be described. First, when the power is turned on, the display panel 37 or the like displays a riding state 1 indicating that the power is on (S501), and then the passenger detection sensor 42
It is determined whether or not one foot of the passenger is in contact with the riding section 31 (S502), and when it is determined that one foot is in contact (Y), the display section 37 or the like is connected to the riding section. The boarding state 2 indicating that one foot is in contact with 31 is displayed (S503). If it is determined in step S502 that one foot is not in contact (N), this determination process is repeated.

  Next, the attitude detection sensor 43 monitors the pitch axis angle θ (see FIG. 3A) (S504), and displays a boarding state 3 indicating that the attitude angle of the vehicle is being monitored (S505). . Next, it is determined whether or not the pitch axis angle θ is a boardable angle (S506). If it is determined that the pitch axis angle θ is a boardable angle (Y), attitude control for stabilizing the attitude of the vehicle is performed. Start (S507). When it is determined in step S506 that the pitch axis angle θ is not a boardable angle (N), this determination process is repeated.

  Next, a boarding state 4 indicating that the posture control is being executed is displayed on the display panel 37 or the like (S508), and it is determined whether or not both feet of the passenger are in contact with the riding section 31 ( S509). If it is determined in step S509 that both feet are in contact (Y), the display panel 37 displays the riding state 5 indicating that both feet of the passenger are in contact with the riding portion 31. Then, when the vehicle is stabilized, it is determined that the boarding is completed (S511), and a boarding state 6 indicating that the vehicle is in a normal travelable state is displayed (S512). If it is determined in step S509 that both feet are not in contact (N), this determination process is repeated.

  In this way, by notifying the passenger himself / herself and the surrounding people of the passenger's boarding state and the current control state of the vehicle, an appropriate operation can be performed and safety can be improved.

FIG. 1 is a diagram showing a basic configuration of a state display device for a parallel motorcycle according to the present embodiment. FIG. 2 is a diagram showing the configuration of the traveling state detection means of the parallel motorcycle state display device according to the present embodiment. 3A and 3B are diagrams showing a schematic structure of a parallel two-wheeled vehicle. FIG. 4 is a diagram showing a specific configuration of the parallel motorcycle state display device of the present invention. FIG. 5 is a graph for explaining the process of detecting the running state from the relationship between the speed and the acceleration. FIG. 6 is a graph for explaining processing for detecting a deceleration state from the relationship between speed and acceleration. FIG. 7 is a flowchart showing a process for detecting a running state from speed and acceleration. FIG. 8A is a graph showing acceleration including noise, and FIG. 8B is a graph showing acceleration subjected to filter processing for removing noise. FIG. 9 is a graph for explaining a correction process for eliminating the delay for the acceleration information subjected to the filter process. FIG. 10 is a flowchart showing a process for detecting a running state by applying a correction process to the filtered acceleration. FIG. 11 is a flowchart showing a process for performing display according to the speed level. FIG. 12 is a flowchart showing processing for displaying the remaining power. FIG. 13 is a flowchart showing processing for displaying the boarding state and control state of the passenger.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 State display apparatus of parallel motorcycle 2 Vehicle state detection means 3 Display means 5 Traveling state detection means 6 Power supply state detection means 7 Boarding state detection means 8 Control state detection means 10 Deceleration state display part 11 Reverse drive state display part 12 Speed state display part DESCRIPTION OF SYMBOLS 13 Power supply remaining display part 14 Foot contact state display part 15 Control state display part 21 Speed detection means 22 Acceleration detection means 23 Filter means 24 Correction means 30 Parallel two-wheeled vehicle 31 Riding part 32L, 32R Wheel 33L, 33R Motor 34 Handle 35L, 35R Tachometer 36 Lamp 37 Display panel

Claims (22)

Vehicle state detection means for detecting a state relating to the vehicle;
Display means for informing the outside of the information detected by the vehicle state detection means;
A vehicle state display device for a parallel motorcycle having
The vehicle state detection unit includes a traveling state detection unit that detects a traveling state including at least a deceleration state based on the relationship between the speed and acceleration of the vehicle.
A vehicle state display device for a parallel motorcycle. The running state detecting means includes
When the speed is positive and the acceleration is negative, it is determined that the vehicle is decelerating.
The vehicle state display device for a parallel motorcycle according to claim 1. The running state detecting means includes
Speed detecting means for detecting temporal changes in the speed of the vehicle;
Acceleration detecting means for detecting a temporal change in acceleration based on the speed detected by the speed detecting means;
Filter means for applying a filter process for removing noise to the acceleration detected by the acceleration detection means;
Correction means for correcting a time lag between the acceleration after the filter processing and the speed detected by the speed detection means;
The vehicle state display device for a parallel two-wheeled vehicle according to claim 2. The correction means includes
When the acceleration after the filter processing is equal to or less than a threshold value k satisfying k> 0, it is determined that the deceleration state has been entered.
The vehicle state display device for a parallel motorcycle according to claim 3. The display means includes a deceleration state display unit that displays that the vehicle is in the deceleration state.
The vehicle state display device for a parallel motorcycle according to any one of claims 1 to 4. The running state detecting means determines that the vehicle is in a reverse state when the speed is negative,
The display means includes a reverse state display unit that displays that the vehicle is in the reverse state.
The vehicle state display device for a parallel motorcycle according to any one of claims 1 to 5. The display means includes a speed state display unit that performs display corresponding to the speed level.
The vehicle state display device for a parallel motorcycle according to any one of claims 1 to 6. Vehicle state detection means for detecting a state relating to the vehicle;
Display means for informing the outside of the information detected by the vehicle state detection means;
A vehicle state display device for a parallel motorcycle having
The vehicle state detection means has power supply state detection means for detecting the remaining amount of power,
The display means includes a power remaining amount display unit that performs display indicating the remaining amount of the power.
A vehicle state display device for a parallel motorcycle. Vehicle state detection means for detecting a state relating to the vehicle;
Display means for informing the outside of the information detected by the vehicle state detection means;
A vehicle state display device for a parallel motorcycle having
The vehicle state detection means includes a boarding state detection means for detecting a contact state between a boarding portion provided in the vehicle and a foot of a passenger,
The display means includes a foot contact state display unit that displays the contact state.
A vehicle state display device for a parallel motorcycle. Vehicle state detection means for detecting a state relating to the vehicle;
Display means for informing the outside of the information detected by the vehicle state detection means;
A vehicle state display device for a parallel motorcycle having
The vehicle state detection means includes control state detection means for detecting whether or not posture control for stabilizing the posture of the vehicle can be executed,
The display unit includes a control state display unit that displays a detection result by the control state detection unit.
A vehicle state display device for a parallel motorcycle. The control state detection means determines whether or not the posture control is executable based on a contact state between a riding portion provided on the vehicle and a foot of a passenger and a posture of the vehicle.
The vehicle state display device for a parallel motorcycle according to claim 10. Detecting a condition relating to the vehicle;
Performing a display for informing the outside of information relating to the detected vehicle;
A vehicle state display method for a parallel motorcycle having
Detecting a traveling state including at least a deceleration state based on a relationship between a vehicle speed and an acceleration,
A vehicle state display method for a parallel motorcycle. Determining that the vehicle is in the decelerating state when the speed is positive and the acceleration is negative;
The vehicle state display method for a parallel motorcycle according to claim 12. Detecting temporal changes in vehicle speed;
Detecting a temporal change in acceleration based on the velocity;
Filtering the acceleration to remove noise;
Correcting a time lag between the acceleration after the filtering and the speed;
The vehicle state display method for a parallel two-wheeled vehicle according to claim 12, comprising: Determining that the vehicle has entered the deceleration state when the acceleration after the filter processing is equal to or less than a threshold value k satisfying k> 0.
The vehicle state display method for a parallel motorcycle according to claim 14. Displaying that the vehicle is in the deceleration state;
The vehicle state display method for a parallel motorcycle according to any one of claims 12 to 15. Determining that the vehicle is in reverse when the speed is negative;
Displaying that the vehicle is in the reverse state;
The vehicle state display method for a parallel motorcycle according to any one of claims 12 to 16. A step of performing display corresponding to the high and low speeds,
The vehicle state display method for a parallel motorcycle according to any one of claims 12 to 17. Detecting a condition relating to the vehicle;
A step of displaying the information about the detected vehicle to the outside;
A vehicle state display method for a parallel motorcycle having
Detecting the remaining power, and
A step of displaying the remaining amount of power,
A vehicle state display method for a parallel two-wheeled vehicle. Detecting a condition relating to the vehicle;
A step of displaying the information about the detected vehicle to the outside;
A vehicle state display method for a parallel motorcycle having
Detecting a contact state between a boarding part provided in the vehicle and a foot part of the passenger;
Displaying the contact state;
A vehicle state display method for a parallel two-wheeled vehicle. Vehicle state detection means for detecting a state relating to the vehicle;
A step of displaying the information about the detected vehicle to the outside;
A vehicle state display method for a parallel motorcycle having
Detecting whether or not attitude control for stabilizing the attitude of the vehicle is executable;
Displaying a detection result relating to the posture control;
A vehicle state display method for a parallel two-wheeled vehicle. Determining whether or not the posture control is executable based on a contact state between a boarding unit provided in the vehicle and a foot of the passenger and a posture of the vehicle;
The vehicle state display method for a parallel motorcycle according to claim 21.

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