PROCESSING UNIT AND PROCESSING METHOD FOR FORWARD RECOGNITION SYSTEM, FORWARD RECOGNITION SYSTEM, AND MOTORCYCLE

• US 20200132824A1
• Filed: 05/15/2018
• Published: 04/30/2020
• Est. Priority Date: 06/12/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Pfau, Lars, Prashanth, S N
• Granted Patent: US 11,150,335 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 13/04 Systems determining presence of a target based on relative movement of target G01S13/56
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The invention obtains a processing unit and a processing method capable of preventing a delay in recognition of a target in a state where a motorcycle turns. The invention also obtains a forward recognition system that includes the processing unit. The invention further obtains a motorcycle that includes the forward recognition system.

A processing unit (50) includes: an acquisition section (51) that acquires forward environment information corresponding to output of a forward environment detector (20); a recognition section (52) that recognizes the target on the basis of the forward environment information; and a control section (53) that controls the forward environment detector (20). During travel of the motorcycle, the acquisition section (51) acquires posture information related to a bank angle of the motorcycle, and the control section (53) changes a detection angle range for forward detection of the motorcycle by the forward environment detector (20) in accordance with the posture information.

Claims

1. A processing unit (50) for a forward recognition system (1) that recognizes a target ahead of a traveling motorcycle (100) by using a forward environment detector (20) provided in said motorcycle (100), the processing unit (50) comprising:

an acquisition section (51) that acquires forward environment information corresponding to output of the forward environment detector (20); and

a recognition section (52) that recognizes the target on the basis of the forward environment information, and

the processing unit (50) further comprising;

a control section (53) that controls the forward environment detector (20), wherein

during travel of the motorcycle (100),

the acquisition section (51) acquires posture information related to a bank angle (θ

L) of the motorcycle (100), and

the control section (53) changes a detection angle range (θ

) for forward detection of the motorcycle (100) by the forward environment detector (20) in accordance with the posture information.

2. The processing unit (50) according to claim 1, wherein

the detection angle range (θ

) that is changed by the control section (53) is a detection angle range (θ

) in a width direction (W) of the motorcycle (100).

3. The processing unit (50) according to claim 1, wherein

the detection angle range (θ

) that is changed by the control section (53) is a detection angle range (θ

) in a height direction (H) of the motorcycle (100).

4. The processing unit (50) according to claim 1, wherein

during the travel of the motorcycle (100),

the control section (53) executes forward detection of the motorcycle (100) by the forward environment detector (20) in a first detection angle range (θ

1) in the case where the acquisition section (51) acquires the posture information that corresponds to the smaller bank angle (θ

L) than a reference bank angle (θ

Lth), and executes the forward detection of the motorcycle (100) by the forward environment detector (20) in a second detection angle range (θ

2) that is larger than the first detection angle range (θ

1) in the case where the acquisition section (51) acquires the posture information that corresponds to the larger bank angle (θ

L) than the reference bank angle (θ

Lth).

5. The processing unit (50) according to claim 4, wherein

the forward environment detector (20) at least includes:

a first sensing element for the forward detection of the motorcycle (100) in the first detection angle range (θ

1); and

a second sensing element for the forward detection of the motorcycle (100) in the second detection angle range (θ

2), and

during the travel of the motorcycle (100),

the control section (53) executes the forward detection of the motorcycle (100) in the first detection angle range (θ

1) through the forward detection of the motorcycle (100) using the first sensing element in the case where the acquisition section (51) acquires the posture information that corresponds to the smaller bank angle (θ

L) than the reference bank angle (θ

Lth), and executes the forward detection of the motorcycle (100) in the second detection angle range (θ

2) through the forward detection of the motorcycle (100) using the second sensing element in the case where the acquisition section (51) acquires the posture information that corresponds to the larger bank angle (θ

L) than the reference bank angle (θ

θ

Lth).

6. The processing unit (50) according to claim 5, wherein

the first sensing element and the second sensing element are radar transmitters (31) that have different transmitting angle ranges from each other or radar receivers (32) that have different receiving angle ranges from each other.

7. The processing unit (50) according to claim 5, wherein

the first sensing element and the second sensing element are ultrasonic transmitters (31) that have different transmitting angle ranges from each other or ultrasonic receivers (32) that have different receiving angle ranges from each other.

8. The processing unit (50) according to claim 4, wherein

during the travel of the motorcycle (100),

the acquisition section (51) acquires travel information related to a vehicle speed (V) of the motorcycle (100), and

the control section (53) switches between the forward detection of the motorcycle (100) in the first detection angle range (θ

1) and the forward detection of the motorcycle (100) in the second detection angle range (θ

2) in consideration of the travel information.

9. The processing unit (50) according to claim 8, wherein

during the travel of the motorcycle (100),

in the case where the travel information that corresponds to the lower vehicle speed (V) than a reference vehicle speed (Vth) is acquired, the control section (53) executes the forward detection of the motorcycle (100) by the forward environment detector (20) in the second detection angle range (θ

2) even when the posture information that corresponds to the smaller bank angle (θ

L) than the reference bank angle (θ

Lth) is acquired.

10. The processing unit (50) according to claim 8, wherein

during the travel of the motorcycle (100),

in the case where the travel information that corresponds to the low vehicle speed (V) is acquired, the control section (53) reduces the reference bank angle (θ

Lth) at which the first detection angle range (θ

1) and the second detection angle range (θ

2) are switched in comparison with the case where the travel information that corresponds to the high vehicle speed (V) is acquired.

11. The processing unit (50) according to claim 1, wherein

the recognition section (52) corrects the forward environment information by using the posture information and thereafter recognizes the target.

12. A forward recognition system (1) comprising:

the processing unit (50) according to claim 1; and

the forward environment detector (20).

13. A motorcycle (100) comprising:

the forward recognition system (1) according to claim 12.

15. The processing unit (50) according to claim 2, wherein

the detection angle range (θ

) that is changed by the control section (53) is a detection angle range (θ

) in a height direction (H) of the motorcycle (100).

16. The processing unit (50) according to claim 2, wherein

during the travel of the motorcycle (100),

the control section (53) executes forward detection of the motorcycle (100) by the forward environment detector (20) in a first detection angle range (θ

1) in the case where the acquisition section (51) acquires the posture information that corresponds to the smaller bank angle (θ

L) than a reference bank angle (θ

Lth), and executes the forward detection of the motorcycle (100) by the forward environment detector (20) in a second detection angle range (θ

2) that is larger than the first detection angle range (θ

1) in the case where the acquisition section (51) acquires the posture information that corresponds to the larger bank angle (θ

L) than the reference bank angle (θ

Lth).

14. A processing method for a forward recognition system (1) that recognizes a target ahead of a traveling motorcycle (100) by using a forward environment detector (20) provided in said motorcycle (100), the processing method comprising:

an acquisition step (S101, S106, S201, S206) of acquiring forward environment information that corresponds to output of the forward environment detector (20); and

a recognition step (S107, S207) of recognizing the target on the basis of the forward environment information, and

the processing method further comprising;

a control step (S102 to S105, S202 to S205) of controlling the forward environment detector (20), wherein

during travel of the motorcycle (100),

in the acquisition step (S101, S106, S201, S206), posture information related to a bank angle (θ

L) of the motorcycle (100) is acquired, and

in the control step (S102 to S105, S202 to S205), a detection angle range (θ

) for forward detection of the motorcycle (100) by the forward environment detector (20) is changed in accordance with the posture information.