Motorcycle control device and control method

Abstract

The present invention provides a control device and a control method that can improve assistance for a rider of a motorcycle. A control device for a motorcycle includes an execution unit (32) and a determination unit (33). The execution unit executes a speed control operation for controlling the speed of the motorcycle on the basis of positional relationship information, which is information relating to the positional relationship between the motorcycle and another vehicle traveling in the periphery of the motorcycle. The determination unit determines whether or not there is a need to stop or slow down the motorcycle while the motorcycle is traveling. During execution of the speed control operation, the execution unit executes a first automatic control operation that automatically stops or slows down the motorcycle when said need has been determined by the determination unit. The execution unit decelerates the motorcycle at least at one time point during execution of the first automatic control operation, regardless of the positional relationship between the motorcycle and the other vehicle.

Description

Technical Field

[0001] This disclosure relates to a control device and a control method for a motorcycle.

Background Art

[0002] Conventionally, various techniques for assisting the operation of a motorcycle rider have been proposed. For example, International Publication No. 2018 / 185578 discloses a control device that automatically decelerates a motorcycle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The posture of a motorcycle is more likely to be unstable compared to the posture of an automobile having four wheels. For example, a motorcycle cannot stand on its own when stopped, and it is likely to fall when the speed of the motorcycle becomes low. Therefore, when the motorcycle is automatically decelerated, the posture of the motorcycle may become unstable and the safety may be impaired.

[0005] This disclosure has been made in view of the above-described background, and aims to obtain a control device and a control method capable of improving the assistability for a motorcycle rider.

Means for Solving the Problems

[0006] According to one embodiment of the present disclosure, a motorcycle control device comprises an execution unit and a determination unit. The execution unit performs a speed control operation that controls the speed of the motorcycle based on positional relationship information, which is information regarding the positional relationship between the motorcycle and other vehicles traveling around the motorcycle. The determination unit determines whether or not it is necessary to stop or slow down the motorcycle while it is in motion. During the execution of the speed control operation, if the determination unit determines that it is necessary, the execution unit performs a first automatic control operation that automatically stops or slows down the motorcycle. At least at one point during the execution of the first automatic control operation, the execution unit decelerates the motorcycle regardless of the positional relationship between the motorcycle and other vehicles.

[0007] According to one aspect of the present disclosure, a motorcycle control method is provided in which an execution unit of a control device performs a speed control operation to control the speed of a motorcycle based on positional relationship information, which is information regarding the positional relationship between the motorcycle and other vehicles traveling around the motorcycle, and a determination unit of the control device determines whether or not it is necessary to stop or slow down the motorcycle while it is running. During the execution of the speed control operation, if the determination unit determines that it is necessary, the execution unit performs a first automatic control operation to automatically stop or slow down the motorcycle, and decelerates the motorcycle at least at one point during the execution of the first automatic control operation, regardless of the positional relationship between the motorcycle and other vehicles. [Effects of the Invention]

[0008] According to this disclosure, the determination unit determines whether it is necessary to stop or slow down the motorcycle while it is in motion. During the execution of the speed control operation, the execution unit executes a first automatic control operation that automatically stops or slows down the motorcycle if the determination unit determines that it is necessary. The execution unit decelerates the motorcycle at least at one point during the execution of the first automatic control operation, regardless of the relative position of the motorcycle to other vehicles. This makes it possible to appropriately control the deceleration that occurs in the motorcycle during the execution of the first automatic control operation, thereby improving the rider's assistance of the motorcycle. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows the state in which a rider assistance system according to one embodiment of the present disclosure is mounted on a motorcycle. [Figure 2] This figure shows a schematic configuration of a control device for a rider assistance system according to one embodiment of the present disclosure. [Figure 3] This flowchart shows a control flow according to one embodiment of the present disclosure. [Figure 4] This flowchart shows a control flow according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0010] The control device and control method related to this disclosure will be described below with reference to the drawings.

[0011] The configurations and operations described below are examples only, and the control device and control method relating to this disclosure are not limited to such configurations and operations.

[0012] Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. In addition, in each figure, identical or similar parts are either denoted by the same reference numeral or their designation has been omitted. Furthermore, detailed structures have been simplified or omitted as appropriate.

[0013] The following description focuses on the application of the control device and control method described herein to a two-wheeled motorcycle; however, the control device and control method described herein may also be applied to other lean vehicles besides two-wheeled motorcycles. A lean vehicle refers to any vehicle that travels while tilted in the direction of the turn when turning. Lean vehicles include, for example, two-wheeled motorcycles and three-wheeled motorcycles. Motorcycles include, for example, vehicles propelled by an engine, vehicles propelled by an electric motor, etc., and include, for example, motorcycles, scooters, electric scooters, etc.

[0014] A rider support system according to one embodiment is described below.

[0015] Figure 1 shows a rider assistance system according to one embodiment of the present disclosure mounted on a motorcycle.

[0016] As shown in Figure 1, the rider assistance system 1 is mounted on the motorcycle 100. The rider assistance system 1 includes, for example, a drive unit 11, a braking unit 12, a display device 13, an input device 14, an ambient environment sensor 15, a communication device 16, a positioning sensor 17, a vehicle behavior sensor 18, a notification device 19, a steering unit 20, a front wheel 21, a steering motor 22, and a control device 30.

[0017] The drive unit 11 is a power source that drives the wheels of the motorcycle 100. In this disclosure, an example is described in which an engine is mounted on the motorcycle 100 as the drive unit 11. However, the drive unit 11 may be other drive units (e.g., an electric motor), or multiple power sources may be mounted.

[0018] The braking device 12 controls the braking force generated on the wheels. The braking device 12 may control the braking forces generated on both the front wheels 21 and the rear wheels, or may control only the braking force generated on one of the front wheels 21 and the rear wheels. For example, the braking device 12 is a hydraulic control unit. The hydraulic control unit is provided on an oil path connecting the master cylinder and the wheel cylinder. The hydraulic control unit includes components (e.g., control valves and pumps) for controlling the brake hydraulic pressure of the wheel cylinder. By controlling the operation of the components of the hydraulic control unit, the braking force generated on the wheels is controlled.

[0019] The display device 13 has a display function for visually displaying information. Examples of the display device 13 include a liquid crystal display or a lamp.

[0020] The input device 14 receives various operations by the rider of the motorcycle 100. Information regarding the rider's operations using the input device 14 is output to the control device 30. The input device 14 may be provided on the motorcycle 100, or may be provided on accessories (e.g., helmets, gloves, etc.) attached to the motorcycle 100. The input device 14 is, for example, provided on the handle of the motorcycle 100 and includes push buttons and the like used for the rider's operations. Alternatively, the input device 14 may be included in the display device 13. In this case, for example, the rider performs various operations using the display device 13 according to the information displayed on the display device 13. The input device 14 may receive operations by the rider's body (e.g., hands, feet, etc.), or may receive the voice emitted by the rider. Also, for example, the rider can switch the validity and invalidity of various rider support operations using the input device 14. Also, for example, the rider can set various modes or various thresholds (e.g., upper limit values, lower limit values, etc.) used in various rider support operations using the input device 14.

[0021] The ambient environment sensor 15 detects ambient environment information regarding the environment around the motorcycle 100. The ambient environment sensor 15 is mounted on the motorcycle 100. For example, the ambient environment sensor 15 may be an ambient environment sensor 15a provided at the front part of the body of the motorcycle 100 to acquire the environmental information in front of the motorcycle 100. For example, the ambient environment sensor 15 may be an ambient environment sensor 15b provided at the right side part of the body of the motorcycle 100 to acquire the environmental information on the right side of the motorcycle 100. For example, the ambient environment sensor 15 may be an ambient environment sensor 15c provided at the left side part of the body of the motorcycle 100 to acquire the environmental information on the left side of the motorcycle 100. For example, the ambient environment sensor 15 may be an ambient environment sensor 15d provided at the rear part of the body of the motorcycle 100 to acquire the environmental information behind the motorcycle 100. The ambient environment sensor 15 may be any combination of the ambient environment sensor 15a, the ambient environment sensor 15b, the ambient environment sensor 15c, and the ambient environment sensor 15d. At least a part of the ambient environment sensor 15b and the ambient environment sensor 15c may be substituted by the ambient environment sensor 15a or the ambient environment sensor 15d.

[0022] The ambient environment sensors 15a, 15b, 15c, 15d may each non - contact detect information related to the distance and / or orientation to an object located within the detection range. The object located within the detection range is, for example, a vehicle, an obstacle, road equipment, a person, an animal, etc. The ambient environment information is, for example, information such as relative position, relative distance, relative speed, relative acceleration, relative jerk, time difference of passage, predicted time until collision, etc. Also, each of the ambient environment sensors 15a, 15b, 15c, 15d may non - contact detect the features of an object located within the detection range. The features of the object are, for example, type, shape, size, marks attached to the object, etc.

[0023] The ambient environment sensors 15a, 15b, 15c, 15d are each, for example, a radar, a LiDAR, an ultrasonic sensor, or a camera.

[0024] The communication device 16 communicates wirelessly with other communication devices installed on surrounding vehicles of the motorcycle 100, and / or other communication devices installed on road facilities (e.g., traffic lights, signs, guardrails, utility poles, etc.). Other communication devices installed on surrounding vehicles transmit to the communication device 16, for example, information about the driving status of the surrounding vehicle detected by the surrounding vehicle, information about the surrounding environment of the surrounding vehicle detected by the surrounding vehicle, etc. Other communication devices installed on road facilities transmit to the communication device 16, for example, information about the status of the road facility, information about the surrounding environment of the road facility detected by the road facility, etc.

[0025] The positioning sensor 17 receives positioning signals transmitted from multiple communication satellites to determine the location of the motorcycle 100 on the Global Positioning System. The location of the motorcycle 100 is then compared with map information to obtain location information on the map.

[0026] The vehicle behavior sensor 18 is, for example, a vehicle speed sensor, an inertial unit (IMU), etc. The vehicle speed sensor detects the speed occurring in the motorcycle 100. The vehicle speed sensor may also detect other physical quantities that can be substantially converted to the speed occurring in the motorcycle 100. The inertial unit detects the acceleration in three axes (longitudinal, longitudinal, and vertical) and the angular velocity in three axes (roll, pitch, and yaw) occurring in the motorcycle 100. The inertial unit may also detect other physical quantities that can be substantially converted to the acceleration and angular velocity in three axes occurring in the motorcycle 100. Alternatively, the inertial unit may detect only a portion of the acceleration and angular velocity in three axes.

[0027] The notification device 19 notifies the rider in various ways. For example, the notification device 19 notifies the rider through perception (e.g., a display) in which the rider's visual organs are used as sensory organs. For example, the notification device 19 notifies the rider through perception (e.g., sound) in which the rider's auditory organs are used as sensory organs. For example, the notification device 19 notifies the rider through perception (e.g., vibration) in which the rider's tactile organs are used as sensory organs. For example, the notification device 19 may be a display, lamp, speaker, vibrator, etc. The notification device 19 may be installed on the motorcycle 100, or it may be installed on equipment attached to the motorcycle 100 (e.g., helmet, gloves, etc.). The display device 13 may also function as the notification device 19.

[0028] The steering system 20, including the handlebars, is rotatably held to the body of the motorcycle 100. The front wheel 21 is rotatably held to the body of the motorcycle 100 together with the steering system 20. When the steering system 20 is turned, the steering angle of the front wheel 21 (i.e., the angle of the front wheel 21 relative to the body) changes. The rider can change the direction of travel of the motorcycle 100 by changing the steering angle of the front wheel 21 by turning the steering system 20. The steering system 20 is controlled, for example, by the operation of the steering motor 22 controlled by the control device 30.

[0029] Figure 2 is a diagram showing a schematic configuration of a control device 30 of a rider assistance system 1 according to one embodiment of the present disclosure.

[0030] As shown in Figure 2, the control device 30 includes an acquisition unit 31, an execution unit 32, and a determination unit 33. All or any of the parts of the control device 30 may be housed together in a single enclosure, or they may be housed in multiple enclosures. Furthermore, some or all of the control device 30 may be composed of, for example, a microcontroller, a microprocessor unit, etc., or may be composed of updatable components such as firmware. Some or all of the control device 30 may be, for example, a program module executed by commands from a CPU, etc.

[0031] The acquisition unit 31 acquires ambient environment information, which is information about the environment around the motorcycle 100, based on the output of the ambient environment sensor 15 while the motorcycle 100 is running or stopped. The ambient environment information includes positional relationship information, which is information related to the positional relationship between the motorcycle 100 and objects located around the motorcycle 100 (e.g., vehicles, obstacles, road facilities, people, animals, etc.). Positional relationship information may include, for example, relative position, relative distance, relative speed, relative acceleration, relative jerk, difference in passing time, and predicted time to collision. Positional relationship information may also include information on other physical quantities that can be substantially converted to these. The acquisition unit 31 may acquire ambient environment information of the motorcycle 100 based on the output of the communication device 16 while the motorcycle 100 is running.

[0032] The execution unit 32 performs various control operations on the motorcycle 100. For example, as a control operation, the execution unit 32 performs a speed control operation that controls the speed of the motorcycle 100 based on positional relationship information, which is information regarding the positional relationship between the motorcycle 100 and other vehicles traveling around the motorcycle 100. Positional relationship information is acquired, for example, by at least one of the ambient environment sensor 15 and the communication device 16. The execution unit 32 may perform the speed control operation automatically based on the information acquired by the acquisition unit 31, or it may perform the speed control operation in response to input operations from the rider using the input device 14.

[0033] The execution unit 32 outputs a control signal to the drive unit 11 or the brake unit 12 while the speed control operation is being performed. The drive unit 11 or the brake unit 12 is controlled to cause or increase deceleration or acceleration of the motorcycle 100.

[0034] For example, in the speed control operation, the execution unit 32 can control the speed of the motorcycle 100 to a speed that does not exceed a preset upper speed limit by monitoring the value of the motorcycle's speed obtained based on the wheel speed of the front wheel 21 and the wheel speed of the rear wheel.

[0035] The execution unit 32 performs a first automatic control operation to automatically stop or slow down the motorcycle 100 while the speed control operation is in progress. Details of the first automatic control operation will be described later.

[0036] Furthermore, the execution unit 32 performs a second automatic control operation to adjust the positional relationship between the motorcycle 100 and other vehicles while the speed control operation is being performed. Details of the second automatic control operation will be described later.

[0037] As will be described later, the execution unit 32 is configured to switch between the first automatic control operation and the second automatic control operation while the speed control operation is being performed.

[0038] For example, the second automatic control operation is an automatic speed-following operation that causes the motorcycle 100 to automatically follow the speed of a target vehicle without acceleration or deceleration operations by the rider of the motorcycle 100. More specifically, the second automatic control operation includes adaptive cruise control (ACC).

[0039] In the second automatic control operation, the execution unit 32 performs inter-vehicle distance maintenance control to maintain the distance between the motorcycle 100 and the target vehicle at a target value. In inter-vehicle distance maintenance control, the execution unit 32 controls the speed of the motorcycle 100 so that the distance between the motorcycle 100 and the target vehicle is maintained at the target distance. Note that the distance between the motorcycle 100 and the target vehicle is not limited to the straight-line distance between the motorcycle 100 and the target vehicle in the longitudinal direction of the motorcycle 100. For example, the distance between the motorcycle 100 and the target vehicle may mean the distance in the direction along the lane. In other words, the direction along the lane of the motorcycle 100. Alternatively, the distance between the motorcycle 100 and the target vehicle may be the distance between the motorcycle 100 and the target vehicle in an oblique direction that intersects both the longitudinal and lateral directions of the motorcycle 100.

[0040] In the second automatic control operation, the execution unit 32 may perform passage time difference control to maintain the passage time difference between the motorcycle 100 and the target vehicle at a target value. In passage time difference control, the execution unit 32 controls the longitudinal positional relationship between the motorcycle 100 and the target vehicle by changing the passage time difference between the motorcycle 100 and the target vehicle.

[0041] Hereinafter, a rider support system 1 according to one embodiment of this disclosure will be described in more detail with reference to Figure 3.

[0042] Figure 3 is a flowchart showing the control flow performed by the control device 30. The control flow shown in Figure 3 is performed during the execution of the speed control operation.

[0043] S101 corresponds to the start of the control flow.

[0044] In S102, the determination unit 33 determines whether or not it is necessary to stop or slow down the motorcycle 100 while it is in motion.

[0045] For example, the determination unit 33 determines whether or not it is necessary based on the output of the ambient environment sensor 15 mounted on the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or moved slowly if the output of the ambient environment sensor 15 corresponds to information indicating that there is a vehicle slowing down or stopped in front of the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or moved slowly if the output of the ambient environment sensor 15 corresponds to information indicating that there is a traffic signal prompting the motorcycle to stop in front of the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or moved slowly if the output of the ambient environment sensor 15 corresponds to information indicating that there is a traffic sign prompting the motorcycle to stop in front of the motorcycle 100. The output of the ambient environment sensor 15 may be acquired by the determination unit 33 via the acquisition unit 31, or the determination unit 33 may acquire it directly from the ambient environment sensor 15.

[0046] For example, the determination unit 33 may determine whether or not it is necessary based on the output of a communication device 16 that wirelessly communicates with surrounding vehicles and / or road equipment located around the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or slowed down if the output of the communication device 16 corresponds to information indicating that there is a vehicle slowing down or stopped in front of the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or slowed down if the output of the communication device 16 corresponds to information indicating that there is a traffic signal prompting the motorcycle to stop in front of the motorcycle 100. For example, the determination unit 33 determines that the motorcycle 100 needs to be stopped or slowed down if the output of the communication device 16 corresponds to information indicating that there is a traffic sign prompting the motorcycle to stop in front of the motorcycle 100. The output of the communication device 16 may be acquired by the determination unit 33 via the acquisition unit 31, or the determination unit 33 may acquire it directly from the communication device 16.

[0047] In addition to the examples described above, the determination unit 33 can also determine that the motorcycle 100 needs to be stopped or slowed down if the output of the communication device 16 corresponds to information indicating that there is a traffic jam or accident ahead of the motorcycle 100. Furthermore, the determination unit 33 can also determine the location where the motorcycle 100 needs to be stopped, or the distance from the motorcycle 100's current location to that location, based on the output of the communication device 16.

[0048] The determination unit 33 may determine whether or not it is necessary based on the output of the positioning sensor 17 mounted on the motorcycle 100. In this case, the determination unit 33 may also determine, based on the output of the positioning sensor 17, the location where the motorcycle 100 needs to be stopped, or the distance from the motorcycle 100's current location to that location.

[0049] The determination unit 33 may determine whether or not it is necessary based on the output of the vehicle behavior sensor 18 mounted on the motorcycle 100, or it may determine whether or not it is necessary based on map information.

[0050] If the determination unit 33 determines that there is a need in S102 (S102: Yes), the control flow proceeds to S103. If the determination unit 33 determines that there is no need in S102 (S102: No), the control flow proceeds to S105 and terminates.

[0051] In S103, the determination unit 33 determines whether the driving state of the motorcycle 100 meets predetermined criteria. The determination unit 33 determines that the driving state of the motorcycle 100 meets predetermined criteria if the speed of the motorcycle 100 is below the speed threshold and / or the acceleration of the motorcycle 100 is below the acceleration threshold.

[0052] In S103, if the determination unit 33 determines that the running condition of the motorcycle 100 meets a predetermined standard (S103: Yes), the control flow proceeds to S104. In S103, if the determination unit 33 determines that the running condition of the motorcycle 100 does not meet a predetermined standard (S103: No), the control flow proceeds to S105 and terminates.

[0053] If the driving condition of the motorcycle 100 meets a predetermined standard (S103: Yes), in S104, the execution unit 32 performs a first automatic control operation to automatically stop or slow down the motorcycle 100. At least at one point during the execution of the first automatic control operation, the execution unit 32 decelerates the motorcycle 100 regardless of the positional relationship between the motorcycle 100 and other vehicles traveling around it.

[0054] When the first automatic control operation is executed in S104, the control flow proceeds to S105 and terminates.

[0055] During the execution of the first automatic control operation, the execution unit 32 decelerates the motorcycle 100 at a predetermined deceleration rate until the motorcycle 100 comes to a stop. The predetermined deceleration rate is a fixed value. For example, during the execution of the first automatic control operation, the motorcycle 100 is decelerated while maintaining the same deceleration rate whether the relative positions of the motorcycle 100 and other vehicles traveling around it are moving further apart or closer together.

[0056] During the execution of the first automatic control operation, the execution unit 32 sets a predetermined speed profile and decelerates the motorcycle 100 until it stops or moves slowly. The execution unit 32 decelerates the motorcycle 100 by, for example, mechanically or electrically controlling various devices of the motorcycle 100, thereby gradually increasing or decreasing the deceleration of the motorcycle 100. Specifically, for example, the execution unit 32 increases or decreases the deceleration of the motorcycle 100 by controlling the drive unit 11 or the braking unit 12.

[0057] In addition, if the preceding vehicle located in front of the motorcycle 100 is slowing down or stopped, the motorcycle 100's driving state may meet a predetermined criterion, and the first automatic control operation may be executed. In this case, the preceding vehicle may accelerate or start moving again after the motorcycle 100's speed has decreased. According to this disclosure, even if the preceding vehicle accelerates or starts moving, the execution unit 32 does not cancel the first automatic control operation, but continues to decelerate the motorcycle 100, causing the motorcycle 100 to stop or move slowly. In other words, according to the control flow shown in Figure 3, the motorcycle 100 is decelerated regardless of the positional relationship between the motorcycle 100 and the preceding vehicle.

[0058] Referring to Figure 4, an example will be described in which the execution unit 32 performs a second automatic control operation to adjust the positional relationship between the motorcycle 100 and other vehicles while the speed control operation is in progress. The control flow shown in Figure 4 is executed while the speed control operation is in progress. In the following explanation, parts that overlap with the flowchart shown in Figure 3 will be omitted.

[0059] S201 corresponds to the start of the control flow.

[0060] In S202, the execution unit 32 performs a second automatic control operation to adjust the positional relationship between the motorcycle 100 and another vehicle while the speed control operation is being performed. Below, an example is described in which the other vehicle in the second automatic control operation is a target vehicle that automatically causes the motorcycle 100 to follow its speed. The execution unit 32 may perform the second automatic control operation automatically based on the information acquired by the acquisition unit 31, or it may perform the second automatic control operation in response to the rider's input operation using the input device 14.

[0061] When the second automatic control operation is executed in S202, the control flow proceeds to S203.

[0062] In S203, the determination unit 33 determines whether it is necessary to stop or slow down the motorcycle 100 during the execution of the second automatic control operation. For example, the determination unit 33 determines that it is necessary if the target vehicle being followed slows down or stops during the execution of the second automatic control operation.

[0063] If the determination unit 33 determines that there is a need in S203 (S203: Yes), the control flow proceeds to S204. If the determination unit 33 determines that there is no need in S203 (S203: No), the control flow proceeds to S206 and terminates.

[0064] In S204, the determination unit 33 determines whether or not the supplementary conditions are met.

[0065] The supplementary conditions include the first condition, the second condition, and the third condition. The determination unit 33 determines that the supplementary conditions are met if the first condition, the second condition, and the third condition are met.

[0066] The first condition is that the driving condition of the motorcycle 100 meets the criteria. Specifically, the determination unit 33 determines that the first condition is met if the speed of the motorcycle 100 is below the speed threshold.

[0067] The second condition is that the driving state of the target vehicle being followed meets the criteria. Specifically, the determination unit 33 determines that the second condition is met when the target vehicle being followed decelerates or stops and then accelerates or starts driving again.

[0068] The third condition is that the positional relationship information between the motorcycle 100 and the target vehicle being followed meets the criteria. Specifically, the determination unit 33 determines that the third condition is met if at least one of the following is below a predetermined threshold: the relative speed of the target vehicle relative to the motorcycle 100, the distance between the motorcycle 100 and the target vehicle, the acceleration of the target vehicle being followed, and the target acceleration generated in the motorcycle 100 during the second automatic control operation.

[0069] If the determination unit 33 determines in S204 that the motorcycle 100 satisfies the supplementary conditions (S204: Yes), the control flow proceeds to S205. If the determination unit 33 determines in S204 that the motorcycle 100 does not satisfy the supplementary conditions (S204: No), the control flow proceeds to S206 and terminates.

[0070] If the motorcycle 100 meets the supplementary conditions (S204: Yes), in S205, the execution unit 32 switches from the second automatic control operation to the first automatic control operation. As a result, even if the target vehicle being followed decelerates or stops and then accelerates or starts moving again, if the supplementary conditions are met, the second automatic control operation is canceled and the first automatic control operation is executed, causing the motorcycle 100 to stop or move slowly.

[0071] When the control flow switches from the second automatic control operation to the first automatic control operation in S205, the control flow proceeds to S206 and terminates.

[0072] If the determination unit 33 determines in S204 that the motorcycle 100 does not meet the supplementary conditions, the execution unit 32 continues the second automatic control operation. As a result, the execution unit 32 causes the motorcycle 100 to follow the target vehicle at speed without stopping or slowing down.

[0073] In the control flow shown in Figures 3 and 4, the execution unit 32 may perform various supplementary support operations during the execution of the first automatic control operation. Supplementary support operations are described below. Note that the various supplementary support operations described below are not limited to those performed independently. The various supplementary support operations can be performed in combination as appropriate.

[0074] When the motorcycle 100 decelerates and its speed decreases, the stability of the motorcycle's posture decreases. Therefore, the execution unit 32 may perform posture stabilization operations to stabilize the motorcycle 100's posture as supplementary support operations.

[0075] For example, the execution unit 32 may, as a posture stabilization operation, increase the driving force (e.g., engine torque) of the drive unit 11 while gradually decelerating the motorcycle 100 by setting a predetermined speed profile. The execution unit 32 may, as a posture stabilization operation, generate a braking force on the rear wheel while gradually decelerating the motorcycle 100 by setting a predetermined speed profile. The execution unit 32 may, as a posture stabilization operation, increase the driving force (e.g., engine torque) of the drive unit 11 and generate a braking force on the rear wheel while gradually decelerating the motorcycle 100 by setting a predetermined speed profile. The execution unit 32 may, as a posture stabilization operation, generate a driving force (e.g., engine torque) of the drive unit 11 or generate a braking force on the rear wheel while gradually decelerating the motorcycle 100 by setting a predetermined speed profile.

[0076] For example, the execution unit 32 may perform steering control to control the movement of the steering 20 of the motorcycle 100 as a posture stabilization operation. For example, the execution unit 32 may perform pitching control to suppress the pitching motion of the motorcycle 100 as a posture stabilization operation. The execution unit 32 performs one or both of the steering control and pitching control based on the output from the vehicle behavior sensor 18.

[0077] As a supplementary support operation, the execution unit 32 may notify the LiDAR via the notification device 19 that the first automatic control operation has started.

[0078] The determination unit 33 may determine whether or not there is a possibility of collision between the motorcycle 100 and objects in the vicinity of the motorcycle 100. Specifically, the determination unit 33 determines that there is a possibility of collision if the criteria for collision possibility are met. More specifically, the determination unit 33 determines that there is a possibility of collision if the index value indicating the possibility of collision exceeds a first threshold. The index value indicating the possibility of collision is, for example, the relative speed of the motorcycle 100 with respect to the surrounding objects.

[0079] If the collision detection unit 33 determines that there is a possibility of collision, the execution unit 32 performs a notification operation as a supplementary support operation.

[0080] The notification operation is a notification operation that notifies the rider of motorcycle 100, and / or a notification operation that notifies a communication target that can communicate wirelessly with motorcycle 100.

[0081] The execution unit 32 notifies that a collision is possible during the notification operation. Notification operations to the rider of the motorcycle 100 may be performed using the notification device 19 on the motorcycle 100. Notification operations to communication targets may be performed using external notification devices of the motorcycle 100, such as notification devices installed on other vehicles traveling around the motorcycle 100 or a pedestrian's smartphone.

[0082] For example, a notification operation to a communication target is an operation to notify vehicles traveling around the motorcycle 100 via vehicle-to-vehicle (V2V) communication. For example, a notification operation to a communication target is an operation to notify surrounding road facilities via a vehicle-to-vehicle (V2X) communication system. For example, a notification operation to a communication target is an operation to notify pedestrians around the motorcycle 100. For example, a notification operation to a communication target is an operation to notify a target vehicle being followed in the second automatic control operation.

[0083] The determination unit 33 may determine that a collision cannot be avoided if the index value indicating the possibility of a collision exceeds the second threshold.

[0084] If the collision determination unit 33 determines that a collision cannot be avoided, the execution unit 32 may activate a safety device (e.g., an airbag) as a supplementary support action. If the collision determination unit 33 determines that a collision cannot be avoided, the execution unit 32 may perform an emergency notification action as a supplementary support action. For example, as an emergency notification action, the execution unit 32 may make an emergency call to an external location (e.g., a hospital, ambulance, etc.) outside the motorcycle 100.

[0085] The determination unit 33 may determine whether or not the motorcycle 100 is traveling around a curve based on information such as the output of the ambient environment sensor 15, the output of the communication device 16, the output of the positioning sensor 17, the output of the vehicle behavior sensor 18, and map information acquired by the acquisition unit 31. The execution unit 32 may perform the attitude stabilization operation described above if the motorcycle 100 is traveling around a curve. Alternatively, if the determination unit 33 determines that the motorcycle 100 is traveling around a curve, the execution unit 32 may stop the first automatic control operation and perform the attitude stabilization operation.

[0086] When motorcycle 100 is traveling around a curve, it may be difficult to decelerate it, for example, due to the motorcycle 100's unstable posture. If motorcycle 100 cannot be decelerated, it may be difficult to stop motorcycle 100 before it collides with an object in the surrounding area, or to control the motorcycle 100's behavior to avoid a collision. Therefore, for example, if the determination unit 33 determines that the roll angle or yaw rate of motorcycle 100 exceeds a threshold, and that it is difficult to secure a sufficient braking distance to avoid a collision with an object in the surrounding area, the execution unit 32 may perform the above-described supplementary support operation with priority over the first automatic control operation.

[0087] The effects of this disclosure are described below.

[0088] According to this disclosure, the determination unit 33 determines whether it is necessary to stop or slow down the motorcycle 100 while it is in motion. During the execution of the speed control operation, the execution unit 32 executes a first automatic control operation to automatically stop or slow down the motorcycle 100 if the determination unit 33 determines that it is necessary. The execution unit 32 decelerates the motorcycle 100 at least at one point during the execution of the first automatic control operation, regardless of the relative position of the motorcycle 100 to other vehicles. This makes it possible to appropriately control the deceleration that occurs in the motorcycle 100 during the execution of the first automatic control operation, thereby improving the rider support capabilities of the motorcycle 100.

[0089] According to this disclosure, if the determination unit 33 determines that it is necessary to stop or slow down the motorcycle 100 while it is in motion during the execution of the second automatic control operation, and if the supplementary conditions are met, the execution unit 32 switches from the second automatic control operation to the first automatic control operation. As a result, even while the second automatic control operation is in progress, the motorcycle 100 can be decelerated as needed, regardless of the relative position of the motorcycle 100 to other vehicles, and the second automatic control operation can be continued if there is no need to stop or slow down. In other words, the motorcycle 100 can be appropriately controlled according to various situations.

[0090] According to this disclosure, the execution unit 32 performs various supplementary support operations, such as attitude stabilization operations, notification operations, and activation of safety devices, during the execution of the first automatic control operation. The supplementary support operations include attitude stabilization operations that stabilize the attitude of the motorcycle 100 during the execution of the first automatic control operation. The attitude stabilization operations include steering control that controls the movement of the steering 20 of the motorcycle 100, and pitching control that suppresses the pitching motion of the motorcycle 100. By performing supplementary support operations, the safety of the motorcycle 100 during the first automatic control operation can be improved.

[0091] According to this disclosure, for example, the attitude stabilization operation is performed when the motorcycle 100 is traveling around a curve. The behavior of the motorcycle 100 while traveling around a curve tends to be more unstable compared to a four-wheeled vehicle. By performing an attitude stabilization operation while the motorcycle 100 is traveling around a curve, the safety of the motorcycle 100 can be improved.

[0092] According to this disclosure, the determination unit 33 determines whether there is a possibility of collision between the motorcycle 100 and objects in the vicinity of the motorcycle 100. If there is a possibility of collision, the execution unit 32 performs various notification operations as supplementary support operations. This makes it possible to notify the rider of the motorcycle 100, surrounding objects (such as occupants of surrounding vehicles), or hospitals and / or ambulances that there is a possibility of collision.

[0093] If a collision is possible, the execution unit 32 activates a safety device mounted on the motorcycle 100 as a supplementary support action. The safety device is, for example, an airbag. This protects the rider of the motorcycle 100 from the impact of a collision. [Explanation of symbols]

[0094] 1 Rider assistance system, 11 Drive unit, 12 Braking unit, 13 Display device, 14 Input device, 15 Surrounding environment sensor, 16 Communication device, 17 Positioning sensor, 18 Vehicle behavior sensor, 19 Notification device, 20 Steering, 21 Front wheel, 22 Steering motor, 30 Control device, 31 Acquisition unit, 32 Execution unit, 33 Judgment unit, 100 Motorcycle.

Claims

1. A control device for a motorcycle (100), An execution unit (32) performs a speed control operation to control the speed of the motorcycle (100) based on positional relationship information, which is information regarding the positional relationship between the motorcycle (100) and other vehicles traveling around the motorcycle (100). The system includes a determination unit (33) that determines whether or not it is necessary to stop or slow down the motorcycle (100) while it is in motion. During the execution of the speed control operation, the execution unit (32) If the determination unit (33) determines that such a need exists, it will execute a first automatic control operation to automatically stop or slow down the motorcycle (100). At least one point during the execution of the first automatic control operation, the motorcycle (100) is decelerated regardless of the relative position of the motorcycle (100) and the other vehicle. The execution unit (32) is, During the execution of the speed control operation, a second automatic control operation is performed to adjust the positional relationship between the motorcycle (100) and the other vehicle. If the determination unit (33) determines that there is a need for the second automatic control operation during its execution, it switches from the second automatic control operation to the first automatic control operation. Control device.

2. If the determination unit (33) determines that there is a need for the second automatic control operation during execution and the supplementary conditions are met, the execution unit (32) switches from the second automatic control operation to the first automatic control operation. The aforementioned supplementary conditions include the condition that the running condition of the motorcycle (100) meets the criteria. The control device according to claim 1.

3. If the determination unit (33) determines that there is a need for the second automatic control operation during execution and the supplementary conditions are met, the execution unit (32) switches from the second automatic control operation to the first automatic control operation. The aforementioned supplementary conditions include the condition that the positional relationship information satisfies the criteria, The control device according to claim 1.

4. The execution unit (32) performs supplementary support operations during the execution of the first automatic control operation. The supplementary support operation includes at least one of the following: an attitude stabilization operation to stabilize the attitude of the motorcycle (100) during the execution of the first automatic control operation; an alert operation to notify the rider of the motorcycle (100) and / or a communication target capable of wireless communication with the motorcycle (100); and an operation to activate a safety device mounted on the motorcycle (100). The control device according to claim 1.

5. The supplementary support operation includes the attitude stabilization operation that stabilizes the attitude of the motorcycle (100) during the execution of the first automatic control operation. The control device according to claim 4.

6. The aforementioned attitude stabilization operation is performed when the motorcycle (100) is traveling around a curve. The control device according to claim 5.

7. The determination unit (33) determines whether or not there is a possibility of collision between the motorcycle (100) and an object in the vicinity of the motorcycle (100), If the determination unit (33) determines that there is a possibility of collision, the execution unit (32) executes the notification operation as a supplementary support operation. The control device according to claim 4.

8. The determination unit (33) determines whether or not there is a possibility of collision between the motorcycle (100) and an object in the vicinity of the motorcycle (100), If the determination unit (33) determines that there is a possibility of collision, the execution unit (32) performs an action to activate the safety device as a supplementary support action. The control device according to claim 4.

9. The determination unit (33) determines whether or not the necessity exists based on the output of the ambient environment sensor (15) mounted on the motorcycle (100). A control device according to any one of claims 1 to 8.

10. The determination unit (33) determines whether or not the necessity exists based on the output of the vehicle behavior sensor (18) mounted on the motorcycle (100). A control device according to any one of claims 1 to 8.

11. The determination unit (33) determines whether or not the necessity exists based on the output of a communication device (16) that communicates wirelessly with surrounding vehicles and / or road equipment located around the motorcycle (100). A control device according to any one of claims 1 to 8.

12. The determination unit (33) determines whether or not the necessity exists based on the map information. A control device according to any one of claims 1 to 8.

13. A method for controlling a motorcycle (100), The execution unit (32) of the control device (30) performs a speed control operation to control the speed of the motorcycle (100) based on positional relationship information, which is information regarding the positional relationship between the motorcycle (100) and other vehicles traveling around the motorcycle (100). The determination unit (33) of the control device (30) determines whether or not it is necessary to stop or slow down the motorcycle (100) while the motorcycle (100) is running. During the execution of the speed control operation, the execution unit (32) If the determination unit (33) determines that such a need exists, it will execute a first automatic control operation to automatically stop or slow down the motorcycle (100). At least one point during the execution of the first automatic control operation, the motorcycle (100) is decelerated regardless of the relative position of the motorcycle (100) and the other vehicle. The execution unit (32) is, During the execution of the speed control operation, a second automatic control operation is performed to adjust the positional relationship between the motorcycle (100) and the other vehicle. If the determination unit (33) determines that there is a need for the second automatic control operation during its execution, it switches from the second automatic control operation to the first automatic control operation. Control method.

Images