Saddle-ride vehicle with autonomous braking and method of operating same
A saddle-ride vehicle includes a forward travel sensor a brake that decelerates the vehicle by actuation of a rider-operable brake control. A controller identifies a trigger for an autonomous braking event for the brake. A rider sensor system is in electrical communication with the controller and includes one or both of: a rider cognition sensor operable to detect parameters of rider cognition and report rider cognition status to the controller, and a rider physical sensor operable to detect parameters of a physical engagement between a rider and the vehicle and report rider physical engagement status to the controller. The controller is programmed to perform one or both of the following in response to the identification of the autonomous braking event trigger: checking for a positive cognitive engagement of the rider with the rider cognition sensor, and checking for a positive physical engagement of the rider with the rider physical sensor.
1. A saddle-ride vehicle operable by a rider situated upon the saddle-ride vehicle, the saddle-ride vehicle comprising:
a brake configured to decelerate the vehicle in response to actuation of a rider-operable brake control;
a controller programmed to identify a trigger for an autonomous braking event using the brake; and
a rider sensor system in electrical communication with the controller, the rider sensor system including one or both of: a rider cognition sensor operable to detect parameters of rider cognition and to report rider cognition status to the controller, and a rider physical sensor operable to detect parameters of a physical engagement between a rider and the vehicle and to report rider physical engagement status to the controller,
wherein, on the condition of the controller determining from the rider sensor system that there is positive rider engagement, the controller is programmed to instruct a first level of autonomous actuation of the brake in response to identification of the autonomous braking event trigger, and
wherein, in the absence of the controller determining from the rider sensor system that there is positive rider engagement, the controller is programmed to retard or disable the instruction of the first level of autonomous actuation of the brake in response to identification of the autonomous braking event trigger.
2. The saddle-ride vehicle of claim 1 , wherein the controller is programmed to determine from the rider sensor system whether there is a positive rider engagement in response to the identification of the autonomous braking event trigger.
3. The saddle-ride vehicle of claim 1 , further comprising a pair of hand grips supported on a handlebar operably coupled to a front wheel fork of the saddle-ride vehicle, wherein the rider physical sensor comprises a pair of hand grip sensors operable to detect whether the rider's two hands are on the pair of hand grips, and wherein the controller is programmed to confirm signals from the pair of hand grip sensors indicative of the rider's two hands being on the pair of hand grips in order to determine that there is positive rider engagement.
4. The saddle-ride vehicle of claim 3 , wherein the pair of hand grip sensors includes pressure transducers operable to detect a grip pressure applied to the pair of hand grips.
5. The saddle-ride vehicle of claim 1 , further comprising at least one indicator operable to output a visual, auditory, or haptic alert to the rider in response to the identification of the autonomous braking event trigger.
6. The saddle-ride vehicle of claim 1 , wherein the controller is programmed to determine that there is positive rider engagement only in response to both of: a report of positive rider cognition status from the rider cognition sensor and a report of positive rider physical engagement status from the rider physical sensor.
7. The saddle-ride vehicle of claim 1 , further comprising an anti-lock braking system (ABS) operable to actuate to automatically maintain braking force on the brake at a threshold of wheel lock-up, wherein the controller is programmed to actuate the brake by an amount sufficient to trigger the ABS as the first level of autonomous actuation of the brake.
8. The saddle-ride vehicle of claim 7 , wherein the controller is further programmed to automatically disengage a clutch of the vehicle in response to the instruction of the first level of autonomous actuation of the brake by the controller.
9. The saddle-ride vehicle of claim 1 , further comprising at least one forward travel sensor including any one or more of: a camera, a RADAR sensor, and a LIDAR sensor in electrical communication with the controller and operable to identify a detrimental riding condition in a forward travel path of the vehicle as the autonomous braking event trigger.
10. The saddle-ride vehicle of claim 1 , wherein the rider cognition sensor includes a camera operable to provide one or both of facial recognition of the rider and eye tracking of the rider.
11. The saddle-ride vehicle of claim 1 , further comprising a hydraulic actuator electrically coupled to the controller and hydraulically coupled to the brake, wherein the controller is operable to actuate the hydraulic actuator to supply hydraulic fluid pressure to the brake for the autonomous actuation of the brake.
12. A method of controlling autonomous actuation of a brake on a saddle-ride vehicle, the method comprising:
operating a rider sensor system including one or both of: a rider cognition sensor operable to detect parameters of rider cognition and to report rider cognition status to a controller, and a rider physical sensor operable to detect parameters of a physical engagement between a rider and the vehicle and to report rider physical engagement status to the controller;
analyzing, with the controller, information from the rider sensor system and determining whether or not there is positive rider engagement;
identifying, with the controller, a trigger for an autonomous braking event using the brake;
on the condition of the controller determining from the rider sensor system that there is positive rider engagement, instructing, with the controller, a first level of autonomous actuation of the brake in response to identification of the autonomous braking event trigger; and
in the absence of the controller determining from the rider sensor system that there is positive rider engagement, instructing, with the controller, a retarding or disabling of the instruction of the first level of autonomous actuation of the brake in response to the identification of the autonomous braking event trigger.
13. The method of claim 12 , wherein the controller checks the rider sensor system to determine whether there is a positive rider engagement, in response to the identification of the autonomous braking event trigger.
14. The method of claim 12 , wherein operating the rider sensor system includes checking for positive physical engagement of the rider with the rider physical sensor, including checking for signals from a pair of hand grip sensors indicative of the rider's two hands being on a pair of hand grips of the saddle-ride vehicle.
15. The method of claim 14 , wherein the signals from the pair of hand grips are dependent upon a detection of at least a minimum threshold grip pressure exerted on the pair of hand grips.
16. The method of claim 12 , further comprising outputting a visual, auditory, or haptic alert to the rider in response to the identification of the autonomous braking event trigger.
17. The method of claim 12 , wherein the controller determines that there is positive rider engagement only in response to both of: positive rider cognition status and positive rider physical engagement status.
18. The method of claim 12 , further comprising one or both of: actuating a momentary pulse of the brake or momentarily interrupting the delivery of drive power in response to the identification of the autonomous braking event trigger.
19. The method of claim 12 , wherein the controller instructing the first level of autonomous actuation of the brake includes engaging an anti-lock braking system of the saddle-ride vehicle to maximize vehicle deceleration rate without wheel lock-up.
20. The method of claim 19 , further comprising automatically disengaging a clutch of the vehicle with the controller during engagement of the anti-lock braking system.
21. The method of claim 12 , wherein the autonomous braking event trigger is identified at least partially based on detection of a detrimental riding condition in a forward travel path of the vehicle using one or more of: a camera, a RADAR sensor, and a LIDAR sensor.
22. The method of claim 12 , wherein the controller determines positive rider cognition status based on analysis of one or both of: facial recognition of the rider and eye tracking of the rider with a camera as the rider cognition sensor.
23. The method of claim 12 , wherein the autonomous braking event trigger is identified at least partially based on GPS location data of a localized roadway or environmental condition reported to the controller.