Control device and control method of rider assistance system mounted on straddle-type vehicle

Abstract

The present invention provides a control device and a control method capable of determining at an early stage what a rider of a straddle-type vehicle who senses a tactile action should pay attention to. The present invention is a control device (51) of a rider assistance system (50) mounted on a straddle-type vehicle (100), comprising a determination unit and a tactile action execution unit, the determination unit determining the necessity of giving a warning to the rider, the tactile action execution unit executing at least one tactile action, the tactile action being an action that causes the acceleration and deceleration of the straddle-type vehicle (100) to drop or rise in an instant, and the tactile action execution unit changing the priority of each wheel (3, 4) when changing the braking force in order to drop or rise the acceleration and deceleration in an instant in the tactile action, according to the direction that the rider should pay attention to by the warning, i.e., the direction of attention.

Description

Technical Field

[0001] The present invention relates to a control device and a control method of a rider assistance system mounted on a straddle-type vehicle. Background Art

[0002] The technology of giving a warning to a rider of a straddle-type vehicle through tactile action is well known. The control device determines the necessity of the warning during the movement of the straddle-type vehicle. When the control device determines that the warning is necessary, the control device performs at least one tactile action, wherein the tactile action is an action of instantly decreasing or increasing the acceleration or deceleration of the straddle-type vehicle.

[0003] Patent document 1: International Publication No. 2018 / 185577.

[0004] In the conventional control device, the same tactile action is performed regardless of the type of warning. Therefore, after the rider senses the occurrence of the tactile action, he needs to identify the object to be focused on from multiple objects. In particular, in a straddle-type vehicle, it is more difficult to assist in this identification using existing equipment (e.g., dashboard, speaker, etc.) compared to other vehicles (e.g., motor vehicles, trucks, etc.), so there is a tendency for the rider to identify the object to be focused on later. Summary of the invention

[0005] The present invention has been made against the background of the above-mentioned problems, and provides a control device and a control method that enable a rider of a straddle-type vehicle who senses tactile motion to identify an object to be focused on at an early stage.

[0006] The control device of the present invention is a control device of a rider assistance system mounted on a straddle-type vehicle having front and rear wheels, and comprises a determination unit and a tactile action execution unit, wherein the determination unit determines the necessity of giving a warning to the rider of the straddle-type vehicle during the movement of the straddle-type vehicle, and the tactile action execution unit executes at least one tactile action when the determination unit determines that the warning is necessary, the tactile action being an action that causes the acceleration / deceleration of the straddle-type vehicle to drop or rise in an instant, and the tactile action execution unit changes the priority of each wheel when changing the braking force in order to drop or rise the acceleration / deceleration in an instant in the tactile action, according to the direction in which the rider's gaze should be directed by means of the warning.

[0007] The control method of the present invention is a control method of a rider assistance system mounted on a straddle-type vehicle having front and rear wheels, and comprises a determination step and a tactile action execution step, wherein in the determination step, a determination unit of a control device determines the necessity of giving a warning to a rider of the straddle-type vehicle during travel of the straddle-type vehicle, and in the tactile action execution step, the tactile action execution unit of the control device executes at least one tactile action when it is determined in the determination step that the warning is necessary, the tactile action being an action that causes the acceleration / deceleration of the straddle-type vehicle to drop or rise in an instant, and in the tactile action execution step, the tactile action execution unit changes the priority of each wheel when changing the braking force in order to drop or rise the acceleration / deceleration in an instant in the tactile action, according to the direction that the rider should be directed to with the aid of the warning, i.e., the direction of gaze.

[0008] Effects of the Invention

[0009] In the control device and control method of the present invention, the tactile action execution unit changes the priority of each wheel when changing the braking force in order to instantly reduce or increase the acceleration or deceleration during the tactile action, based on the direction in which the rider should be directed to look by means of a warning. Through such control, the rider who perceives the tactile action can roughly identify the direction of the object to be looked at based on the difference in the way the tactile action is generated, so the rider can determine the object to be looked at at an early stage. In particular, in a straddle-type vehicle, due to the rider's riding posture, the difference in the way the tactile action is generated due to the change in priority is more easily recognized. Therefore, the rider can more reliably determine the object to be looked at at an early stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a diagram showing a state where a rider assistance system according to an embodiment of the present invention is mounted on a straddle-type vehicle.

[0011] Figure 2 It is a diagram for explaining a schematic configuration of a rider assistance system according to an embodiment of the present invention.

[0012] Figure 3 1 is a diagram showing an example of a control flow of a control device of a rider assistance system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0013] Hereinafter, the rider assistance system of the present invention will be described using the accompanying drawings.

[0014] In addition, the configuration and operation described below are merely examples, and the rider assistance system of the present invention is not limited to such configuration and operation.

[0015] For example, the rider assistance system of the present invention is described below in the case where it is used in a two-wheeled motor vehicle, but the rider assistance system of the present invention can also be used in other straddle-type vehicles other than two-wheeled motor vehicles. A straddle-type vehicle means a vehicle that a rider straddles to ride. Examples of straddle-type vehicles include motorcycles (two-wheeled motor vehicles, three-wheeled motor vehicles), all-terrain vehicles, bicycles, and the like. Examples of motorcycles include motor bikes, scooters, electric scooters, and the like. In addition, a bicycle means a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Examples of bicycles include ordinary bicycles, electric-assisted bicycles, electric bicycles, and the like.

[0016] In addition, the following descriptions of the same or similar parts are appropriately simplified or omitted. In addition, in each figure, the same reference numerals are marked on the same or similar parts or portions. In addition, the illustrations of the detailed structures are appropriately simplified or omitted.

[0017] In addition, the "acceleration and deceleration" of the present invention is a concept that represents acceleration as a positive value and deceleration as a negative value. That is, the expression "acceleration and deceleration decrease" of the present invention means a state in which acceleration decreases or a state in which deceleration increases. In addition, the expression "acceleration and deceleration increase" of the present invention means a state in which acceleration increases or a state in which deceleration decreases.

[0018] Implementation method.

[0019] Hereinafter, a rider assistance system according to an embodiment will be described.

[0020] <Structure of the rider assistance system>

[0021] The configuration of the rider assistance system according to the embodiment will be described.

[0022] Figure 1 It is a diagram showing a state where a rider assistance system according to an embodiment of the present invention is mounted on a straddle-type vehicle. Figure 2 It is a diagram for explaining a schematic configuration of a rider assistance system according to an embodiment of the present invention.

[0023] like Figure 1 and Figure 2 As shown, the straddle-type vehicle 100 includes a vehicle body 1, a handlebar 2 rotatably supported on the vehicle body 1, a front wheel 3 rotatably supported on the vehicle body 1 together with the handlebar 2, a rear wheel 4 rotatably supported on the vehicle body 1, a brake system 10, a drive system 20, and a transmission system 30. In addition, the straddle-type vehicle 100 includes a rider assistance system 50 including a control device 51.

[0024] The brake system 10 includes a front wheel brake mechanism 11 for braking the front wheel 3 and a rear wheel brake mechanism 12 for braking the rear wheel 4. When the input portion (e.g., brake lever 13) corresponding to the front wheel brake mechanism 11 is operated by the rider, a brake pad (not shown) of the front wheel brake mechanism 11 is pressed against a rotor (not shown) rotating together with the front wheel 3 by a force corresponding to the amount of operation, thereby braking the front wheel 3. Furthermore, when the input portion (e.g., brake pedal 14) corresponding to the rear wheel brake mechanism 12 is operated by the rider, a brake pad (not shown) of the rear wheel brake mechanism 12 is pressed against a rotor (not shown) rotating together with the rear wheel 4 by a force corresponding to the amount of operation, thereby braking the rear wheel 4.

[0025] The control device 51 can control the braking force generated at each of the front wheel brake mechanism 11 and the rear wheel brake mechanism 12 individually. For example, the control device 51 can control the brake pad of the front wheel brake mechanism 11 to leave the rotor, thereby reducing the braking force generated at the front wheel 3. In addition, the control device 51 can control the brake pad of the front wheel brake mechanism 11 to approach the rotor, thereby increasing the braking force generated at the front wheel 3. In addition, the control device 51 can control the brake pad of the rear wheel brake mechanism 12 to leave the rotor, thereby reducing the braking force generated at the rear wheel 4. In addition, the control device 51 can control the brake pad of the rear wheel brake mechanism 12 to approach the rotor, thereby increasing the braking force generated at the rear wheel 4. That is, the control device 51 can control the acceleration and deceleration of the straddle-type vehicle 100 by controlling the braking force generated at the front wheel 3 and the rear wheel 4. In addition, the control device 51 can also control the distribution of the changes in the braking force generated at each of the front wheel 3 and the rear wheel 4.

[0026] The drive system 20 transmits the output of the drive source (e.g., engine, motor, etc.) 21 to the transmission system 30. When the input unit (e.g., accelerator handle 22) is operated by the rider, the output corresponding to the operation amount is shifted by the transmission system 30 and transmitted to the drive wheel (e.g., rear wheel 4).

[0027] The control device 51 is capable of controlling the output of the driving source 21 of the driving system 20. For example, the control device 51 is capable of controlling the opening of the throttle device (not shown) to increase or decrease the output of the driving source 21. The control device 51 is also capable of causing the driving wheels to generate braking force (so-called engine braking) by controlling the throttle device to be closed. That is, the control device 51 is capable of controlling the acceleration and deceleration of the straddle-type vehicle 100 by controlling the output of the driving source 21. In addition, the control device 51 is also capable of controlling the braking force generated by the driving wheels. The control device 51 is capable of replacing the braking system 10 or controlling the driving system 20 together with the braking system 10 when controlling the distribution of the changes in the braking force generated at each of the front wheels 3 and the rear wheels 4.

[0028] The control device 51 can control the speed ratio of the transmission system 30. For example, the control device 51 can be controlled to reduce the selection level of the multi-speed transmission mechanism 31 to increase the speed ratio. Here, when the speed ratio is increased in the state where the throttle device is closed, the braking force (so-called engine braking) generated at the drive wheel increases. In addition, the control device 51 can be controlled to increase the selection level of the multi-speed transmission mechanism 31 to reduce the speed ratio. Here, when the speed ratio is reduced in the state where the throttle device is closed, the braking force (so-called engine braking) generated at the drive wheel is reduced. That is, the control device 51 can control the acceleration and deceleration of the straddle-type vehicle 100 by controlling the speed ratio of the transmission system 30. In addition, the control device 51 can also control the braking force generated at the drive wheel. The control device 51 can replace the braking system 10 or control the transmission system 30 together with it when controlling the distribution of the change in the braking force generated at each of the front wheels 3 and the rear wheels 4.

[0029] The control device 51 includes a determination unit 52 and a haptic action execution unit 53. A part or the whole of the control device 51 may be constituted by, for example, a personal computer, a microprocessor unit, etc., and may be constituted by an updateable structure such as firmware, or may be a program module executed according to instructions from a central processing unit, etc. In addition, the control device 51 may be integrated into one, or may be divided into a plurality of.

[0030] The determination unit 52 determines the necessity of giving a warning to the rider of the straddle type vehicle 100 during the travel of the straddle type vehicle 100. The determination unit 52 may determine the necessity of the warning based on the output of various sensors that detect the states of various parts of the straddle type vehicle 100 or the rider, or based on the output of a surrounding environment sensor mounted on the straddle type vehicle 100, or based on information obtained through wireless communication with other vehicles or infrastructure equipment.

[0031] When the determination unit 52 determines that a warning is necessary, the tactile action execution unit 53 executes at least one tactile action, wherein the tactile action is an action that causes the acceleration and deceleration of the straddle-type vehicle 100 to drop or rise in an instant. The acceleration and deceleration after the instant drop or rise may be equal to the acceleration and deceleration before the drop or rise, or may be unequal. The tactile action execution unit 53 causes the acceleration and deceleration to drop or rise in an instant by increasing or decreasing the braking force of the wheels (front wheel 3, rear wheel 4). The increase or decrease amount, the slope of the increase or decrease, and the interval of the increase or decrease are set to values ​​that the rider can perceive to the extent that a warning is generated. The tactile action can be executed in a state where a braking force is generated at each wheel, or it can be executed in a state where no braking force is generated at each wheel.

[0032] Here, the haptic action execution unit 53 changes the priority of the front wheel 3 and the rear wheel 4 when increasing or decreasing the braking force, according to the direction that the rider should be directed to by the warning, that is, the gaze direction. That is, the haptic action execution unit 53 changes the priority of the front wheel 3 and the rear wheel 4 when increasing or decreasing the braking force, according to the type of warning given to the rider.

[0033] In addition, the haptic action may be an action that changes the braking force of only one of the front wheels 3 and the rear wheels 4, or may be an action that changes the braking force of both the front wheels 3 and the rear wheels 4. In the case where the haptic action is an action that changes the braking force of only one of the front wheels 3 and the rear wheels 4, the haptic action execution unit 53 selects the wheel whose braking force is changed in the haptic action from the front wheels 3 and the rear wheels 4 according to the gaze direction, thereby changing the priority. In the case where the haptic action is an action that changes the braking force of both the front wheels 3 and the rear wheels 4, the haptic action execution unit 53 changes the distribution of the change in the braking force generated at the front wheel 3 and the change in the braking force generated at the rear wheel 4 in the haptic action according to the gaze direction, thereby changing the priority.

[0034] The haptic action execution unit 53 makes the priority of the front wheel 3 higher than that of the rear wheel 4 when the warning determined by the determination unit 52 as necessary is a warning for an object located in front of the straddle type vehicle 100. That is, when the haptic action is an action to change the braking force of only one of the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for the object located in front of the straddle type vehicle 100 is necessary, the haptic action execution unit 53 executes a haptic action to generate a change in the braking force only at the front wheel 3. Furthermore, when the haptic action is an action to change the braking force of both of the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for the object located in front of the straddle type vehicle 100 is necessary, the haptic action execution unit 53 executes a haptic action to generate a larger change in the braking force at the front wheel 3 than that at the rear wheel 4.

[0035] As an example, when the warning determined by the determination unit 52 as necessary is a warning about a front collision that is about to occur in the straddle type vehicle 100 (for example, the presence of an obstacle, a squeeze from an oncoming vehicle, etc.), the haptic action execution unit 53 makes the priority of the front wheels 3 higher than that of the rear wheels 4. That is, in the determination unit 52, if it is determined that the possibility of a front collision occurring in the straddle type vehicle 100 is high, the haptic action execution unit 53 executes a haptic action in which the priority of the front wheels 3 is higher than that of the rear wheels 4. The determination unit 52 may determine the necessity of a warning about a front collision based on the output of a surrounding environment sensor mounted on the straddle type vehicle 100, or may determine the necessity of a warning about a front collision based on information obtained through wireless communication with other vehicles or infrastructure equipment. The haptic action execution unit 53 may execute a haptic action that instantly reduces the acceleration and deceleration of the straddle type vehicle 100.

[0036] For example, when the warning determined by the determination unit 52 as necessary is a warning about traffic conditions (e.g., congestion, accidents, etc. occurring in the traveling direction of the straddle type vehicle 100), the haptic action execution unit 53 gives priority to the front wheels 3 over the rear wheels 4. That is, when the determination unit 52 determines that the traffic conditions are likely to cause the straddle type vehicle 100 to decelerate, the haptic action execution unit 53 executes a haptic action with a higher priority for the front wheels 3 than for the rear wheels 4. The determination unit 52 may determine the necessity of warning about traffic conditions based on the output of the surrounding environment sensor mounted on the straddle type vehicle 100, or may determine the necessity of warning about traffic conditions based on information obtained through wireless communication with other vehicles or infrastructure equipment.

[0037] For example, when the warning determined as necessary by the determination unit 52 is a warning for a road sign (e.g., speed limit, prohibited entry, etc.), the haptic action execution unit 53 gives priority to the front wheels 3 over the rear wheels 4. That is, when the determination unit 52 determines that the warning is a road sign that affects the driving operation of the straddle type vehicle 100, the haptic action execution unit 53 executes a haptic action with a higher priority for the front wheels 3 than for the rear wheels 4. The determination unit 52 may determine the necessity of the warning for the road sign based on the output of the surrounding environment sensor mounted on the straddle type vehicle 100, or may determine the necessity of the warning for the road sign based on information obtained through wireless communication with other vehicles or infrastructure equipment.

[0038] When the warning determined by the determination unit 52 as necessary is a warning for an object located behind the straddle type vehicle 100, the haptic action execution unit 53 gives priority to the rear wheel 4 over the front wheel 3. That is, when the haptic action is an action to change the braking force of only one of the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for the object located behind the straddle type vehicle 100 is necessary, the haptic action execution unit 53 executes a haptic action to change the braking force of only the rear wheel 4. Furthermore, when the haptic action is an action to change the braking force of both the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for the object located behind the straddle type vehicle 100 is necessary, the haptic action execution unit 53 executes a haptic action to change the braking force of the rear wheel 4 more than the braking force of the front wheel 3.

[0039] As an example, when the warning determined by the determination unit 52 as necessary is a warning about a rear collision that is about to occur in the straddle type vehicle 100 (for example, the emergency approach of a following vehicle, a collision with a following vehicle, etc.), the haptic action execution unit 53 makes the rear wheel 4 higher in priority than the front wheel 3. That is, if the determination unit 52 determines that the possibility of a rear collision occurring in the straddle type vehicle 100 is high, the haptic action execution unit 53 executes a haptic action in which the rear wheel 4 has a higher priority than the front wheel 3. The determination unit 52 may determine the necessity of a warning about a rear collision based on the output of a surrounding environment sensor mounted on the straddle type vehicle 100, or may determine the necessity of a warning about a rear collision based on information obtained through wireless communication with other vehicles or infrastructure equipment. The haptic action execution unit 53 may execute a haptic action that instantly increases the acceleration / deceleration of the straddle type vehicle 100.

[0040] For example, when the warning determined as necessary by the determination unit 52 is a warning about the movement of another vehicle diagonally behind the straddle type vehicle 100 (for example, parallel movement, overtaking, etc. of a vehicle traveling in an adjacent lane), the haptic action execution unit 53 gives the rear wheels 4 a higher priority than the front wheels 3. That is, when the determination unit 52 determines that another vehicle is traveling diagonally behind, the haptic action execution unit 53 executes a haptic action with the rear wheels 4 having a higher priority than the front wheels 3. The determination unit 52 may determine the necessity of the warning about the movement of another vehicle diagonally behind based on the output of the surrounding environment sensor mounted on the straddle type vehicle 100, or may determine the necessity of the warning about the movement of another vehicle diagonally behind based on information acquired through wireless communication with other vehicles or infrastructure equipment.

[0041] When the warning determined as necessary by the determination unit 52 is a warning for urging the rider to operate, the haptic action execution unit 53 sets the priority of the front wheel 3 higher than that of the rear wheel 4. That is, when the haptic action is an action for changing the braking force of only one of the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for urging the rider to operate is necessary, the haptic action execution unit 53 executes a haptic action for changing the braking force of only the front wheel 3. Furthermore, when the haptic action is an action for changing the braking force of both the front wheel 3 and the rear wheel 4, if the determination unit 52 determines that the warning for urging the rider to operate is necessary, the haptic action execution unit 53 executes a haptic action for causing a larger change in the braking force of the front wheel 3 than that of the rear wheel 4.

[0042] As an example, when the warning determined as necessary by the determination unit 52 is a warning to urge the rider to perform driving operations (e.g., acceleration, deceleration, turning, etc.) of the straddle-type vehicle 100, the haptic action execution unit 53 makes the priority of the front wheel 3 higher than that of the rear wheel 4. That is, when the determination unit 52 determines that it is necessary to urge the rider to perform driving operations, the haptic action execution unit 53 executes a haptic action with the priority of the front wheel 3 higher than that of the rear wheel 4. The determination unit 52 may determine the necessity of the warning to urge the rider to perform driving operations based on the outputs of various sensors that detect the states of various parts of the straddle-type vehicle 100 or the rider, or may determine the necessity of the warning to urge the rider to perform driving operations based on the outputs of surrounding environment sensors mounted on the straddle-type vehicle 100, or may determine the necessity of the warning to urge the rider to perform driving operations based on information obtained through wireless communication with other vehicles or infrastructure equipment.

[0043] As an example, when the warning determined as necessary by the determination unit 52 is a warning to urge the rider to perform a setting operation of the straddle-type vehicle 100 (for example, turning on / off a device or function, switching a mode, changing a parameter, etc.), the haptic action execution unit 53 gives priority to the front wheel 3 over the rear wheel 4. That is, when the determination unit 52 determines that it is necessary to urge the rider to perform a setting operation, the haptic action execution unit 53 executes a haptic action with a higher priority for the front wheel 3 than for the rear wheel 4. The determination unit 52 may determine the necessity of a warning to urge the rider to perform a setting operation based on the output of various sensors that detect the states of various parts of the straddle-type vehicle 100 or the rider, or may determine the necessity of a warning to urge the rider to perform a setting operation based on the output of a surrounding environment sensor mounted on the straddle-type vehicle 100, or may determine the necessity of a warning to urge the rider to perform a setting operation based on information obtained through wireless communication with other vehicles or infrastructure equipment.

[0044] <Operation of the rider assistance system>

[0045] The operation of the rider assistance system according to the embodiment will be described.

[0046] Figure 3 1 is a diagram showing an example of a control flow of a control device of a rider assistance system according to an embodiment of the present invention.

[0047] The control device 51 repeatedly executes the following operation while the rider assisting operation is effective and the straddle-type vehicle 100 is traveling. Figure 3 The control flow shown in .

[0048] (Judgment Steps)

[0049] In step S101, the determination unit 52 of the control device 51 determines the necessity of giving a warning to the rider of the straddle type vehicle 100. If the determination unit 52 determines that a warning is necessary, the process proceeds to step S102, and otherwise, the process returns to S101.

[0050] (Tactile action execution steps)

[0051] In step S102, the haptic action execution unit 53 of the control device 51 executes at least one haptic action, which is an action to instantly decrease or increase the acceleration / deceleration of the straddle-type vehicle 100. The haptic action execution unit 53 instantly decreases or increases the acceleration / deceleration by increasing or decreasing the braking force of the wheels (the front wheel 3 and the rear wheel 4). Here, the haptic action execution unit 53 changes the priority of the front wheel 3 and the rear wheel 4 when increasing or decreasing the braking force, according to the direction to be directed to be directed to by the warning.

[0052] <Effects of rider assistance systems>

[0053] Effects of the rider assistance system according to the embodiment will be described.

[0054] In the rider assistance system 50, the control device 51 includes a determination unit 52 and a haptic action execution unit 53. The determination unit 52 determines the necessity of giving a warning to the rider of the straddle-type vehicle 100. The haptic action execution unit 53 executes at least one haptic action when the determination unit 52 determines that the warning is necessary. The haptic action is an action that instantly decreases or increases the acceleration / deceleration of the straddle-type vehicle 100. In addition, the haptic action execution unit 53 changes the priority of each wheel (front wheel 3, rear wheel 4) when changing the braking force in order to instantly decrease or increase the acceleration / deceleration in the haptic action, according to the direction that the rider should be directed to by the warning, that is, the direction of attention. By such control, the rider who senses the haptic action can roughly recognize the direction of the object to be directed to according to the difference in the generation mode of the haptic action, so that the rider can determine the object to be directed to at an early stage. In particular, in the straddle-type vehicle 100, the difference in the generation mode of the haptic action caused by the change in the priority is easier to recognize due to the riding posture of the rider. Therefore, it is possible to more reliably determine at an early stage what the rider should be looking at.

[0055] Preferably, when the warning is for an object located in front of the traveling straddle-type vehicle 100, the haptic action executing unit 53 gives priority to the front wheel 3 over the rear wheel 4 in the haptic action. By controlling in this way, the rider who senses the haptic action can recognize that the object to be focused on is located in front, so the object to be focused on can be determined at an early stage.

[0056] Preferably, when the warning is for an object located behind the traveling straddle-type vehicle 100, the haptic action executing unit 53 gives the rear wheel 4 a higher priority than the front wheel 3 in the haptic action. By controlling in this way, the rider who senses the haptic action can recognize that the object to be focused on is located behind, so the object to be focused on can be determined at an early stage.

[0057] Preferably, when the warning is a warning to urge the rider to operate, the haptic action execution unit 53 makes the front wheel 3 higher priority than the rear wheel 4 in the haptic action. By controlling in this way, the rider who senses the haptic action can focus on the object in front and operate at an early stage, thereby improving safety.

[0058] The above describes the embodiment, but the present invention is not limited to the description of the embodiment. For example, only a part of the embodiment may be implemented. Figure 3 Other steps can also be added to the control flow shown in .

[0059] Description of Reference Numerals

[0060] 1 vehicle body, 2 handlebars, 3 front wheel, 4 rear wheel, 10 braking system, 11 front wheel braking mechanism, 12 rear wheel braking mechanism, 13 brake lever, 14 brake pedal, 20 driving system, 21 driving source, 22 accelerator handle, 30 speed change system, 31 multi-speed change mechanism, 50 rider assistance system, 51 control device, 52 determination unit, 53 tactile action execution unit, 100 straddle-type vehicle.

Claims

1. A control device, the control device being a control device (51) of a rider assistance system (50) mounted on a straddle-type vehicle (100) having a front wheel (3) and a rear wheel (4), characterized in that: A determination unit (52) and a tactile action execution unit (53) are provided. The determination unit (52) determines the necessity of giving a warning to a rider of the straddle-type vehicle (100) while the straddle-type vehicle (100) is traveling. The haptic action execution unit (53) executes at least one haptic action when the determination unit (52) determines that the warning is necessary, wherein the haptic action is an action of instantly decreasing or increasing the acceleration or deceleration of the straddle-type vehicle (100). The haptic action execution unit (53) changes the priority of each wheel when changing the braking force in order to instantly reduce or increase the acceleration / deceleration in the haptic action, according to the direction that the rider should be directed to by the warning, that is, the direction of gaze.

2. The control device according to claim 1, characterized in that The tactile action is an action for changing the braking force of only one of the front wheel (3) and the rear wheel (4). The haptic action execution unit (53) selects the wheel that changes the braking force in the haptic action from the front wheel (3) and the rear wheel (4) according to the gaze direction, thereby changing the priority.

3. The control device according to claim 1, characterized in that: The tactile action is an action for changing the braking force of both the front wheel (3) and the rear wheel (4). The tactile action execution unit (53) changes the distribution of the change in braking force generated at the front wheel (3) and the change in braking force generated at the rear wheel (4) in the tactile action according to the gaze direction, thereby changing the priority.

4. The control device according to any one of claims 1 to 3, characterized in that: When the warning is a warning about an object located in front of the straddle-type vehicle (100) in motion, the haptic action execution unit (53) gives the front wheel (3) a higher priority than the rear wheel (4) in the haptic action.

5. The control device according to claim 4, characterized in that The aforementioned object located in front is a front collision that is about to occur in the aforementioned straddle-type vehicle (100).

6. The control device according to claim 4, characterized in that: The aforementioned thing that is ahead is the traffic situation.

7. The control device according to claim 4, characterized in that The aforementioned things in front are road signs.

8. The control device according to any one of claims 1 to 3, characterized in that: When the warning is a warning about an object located behind the traveling straddle-type vehicle (100), the haptic action execution unit (53) gives the rear wheel (4) a higher priority than the front wheel (3) in the haptic action.

9. The control device according to claim 8, characterized in that The aforementioned object located at the rear is a rear collision that is about to occur at the aforementioned straddle-type vehicle (100).

10. The control device according to claim 8, characterized in that The aforementioned object located at the rear is the movement of other vehicles located obliquely behind the aforementioned straddle-type vehicle (100).

11. The control device according to any one of claims 1 to 3, characterized in that: When the warning is a warning to the rider to urge the rider to operate, the haptic action execution unit (53) makes the front wheel (3) higher in priority than the rear wheel (4) in the haptic action.

12. The control device according to claim 11, characterized in that The aforementioned operation is a driving operation of the aforementioned straddle-type vehicle (100).

13. The control device according to claim 11, characterized in that: The aforementioned operation is a setting operation of the aforementioned straddle-type vehicle (100).

14. The control device according to any one of claims 1 to 3, characterized in that: The haptic action execution unit (53) controls at least one of the braking system (10), the driving system (20) and the transmission system (30) of the straddle-type vehicle (100) during the haptic action to change the braking force.

15. A control method, the control method being a control method of a rider assistance system (50) mounted on a straddle-type vehicle (100) having a front wheel (3) and a rear wheel (4), characterized in that: The method comprises a determination step (S101) and a tactile action execution step (S102). In the determination step (S101), a determination unit (52) of a control device (51) determines the necessity of giving a warning to a rider of the straddle-type vehicle (100) while the straddle-type vehicle (100) is traveling. In the tactile action execution step (S102), the tactile action execution unit (53) of the control device (51) executes at least one tactile action when it is determined in the determination step (S101) that the warning is necessary, wherein the tactile action is an action that causes the acceleration and deceleration of the straddle-type vehicle (100) to decrease or increase in an instant. In the tactile action execution step (S102), the tactile action execution unit (53) changes the priority of each wheel when changing the braking force in order to instantly reduce or increase the acceleration or deceleration in the tactile action, according to the direction that the rider should be directed to by the warning, i.e., the direction of gaze.

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