Control device for a straddle-type vehicle, rider assistance system, and control method for a straddle-type vehicle

Abstract

The present invention obtains a control device capable of corresponding to the particularity of the traveling of a straddle-type vehicle. Further, a rider assist system provided with such a control device is obtained. Further, a control method capable of corresponding to the particularity of the traveling of a straddle-type vehicle is obtained. Based on the output of at least one surrounding environment detection device (11), surrounding environment information of a straddle-type vehicle (100) is acquired, based on the surrounding environment information, whether or not the straddle-type vehicle (100) is traveling by interweaving between vehicles is analyzed, and a rider assist action corresponding to the analysis result is executed.

Description

Technical Field

[0001] The present invention relates to a control device for a straddle-type vehicle equipped with at least one ambient environment detection device, a rider assistance system having the control device, and a control method for a straddle-type vehicle equipped with at least one ambient environment detection device. Background Technology

[0002] As a conventional straddle-type vehicle, there are known straddle-type vehicles equipped with rider assistance systems that assist the rider of the straddle-type vehicle (e.g., Patent Document 1).

[0003] Patent document 1: Japanese Patent Application Publication No. 2009-116882.

[0004] Motorcycles are particularly small compared to other vehicles (e.g., passenger cars, trucks, etc.). Therefore, they can perform unique maneuvers that are unimaginable with other vehicles. On the other hand, rider assistance systems conventionally installed on motorcycles often become difficult to adapt appropriately to the unique characteristics of their movement. Summary of the Invention

[0005] This invention addresses the aforementioned problems by providing a control device that adapts to the specific characteristics of a straddle-type vehicle's movement. Furthermore, a rider assistance system equipped with such a control device is provided. Additionally, a control method adaptable to the specific characteristics of a straddle-type vehicle's movement is also provided.

[0006] The control device of the present invention is a control device for a straddle-type vehicle equipped with at least one ambient environment detection device. It includes an execution unit that performs rider assistance actions to assist the rider of the straddle-type vehicle. Furthermore, it includes an acquisition unit and an analysis unit. The acquisition unit acquires ambient environment information of the straddle-type vehicle based on the output of the ambient environment detection device. The analysis unit analyzes whether the straddle-type vehicle is moving between trains based on the ambient environment information acquired by the acquisition unit. The execution unit performs the rider assistance actions corresponding to the analysis result of whether the straddle-type vehicle is moving between trains.

[0007] The rider assistance system of the present invention includes the control device described above.

[0008] The control method of the present invention is a control method for a straddle-type vehicle equipped with at least one ambient environment detection device, comprising an execution step, wherein the execution unit of the control device executes a rider assistance action to assist the rider of the straddle-type vehicle, and further comprising an acquisition step and an analysis step, wherein the acquisition step is that the acquisition unit of the control device acquires ambient environment information of the straddle-type vehicle based on the output of the ambient environment detection device, and the analysis step is that the analysis unit of the control device analyzes whether the straddle-type vehicle is moving between trains based on the ambient environment information acquired in the acquisition step, and the execution step is that the execution unit executes the rider assistance action corresponding to the analysis result of whether the vehicle is moving between trains in the analysis step.

[0009] Invention Effects

[0010] According to the control device, rider assistance system, and control method of the present invention, based on the output of at least one surrounding environment detection device, the surrounding environment information of the straddle-type vehicle is obtained. Based on the surrounding environment information, the presence or absence of straddle-type vehicles moving between train formations is analyzed, and rider assistance actions corresponding to the analysis results are executed. Therefore, it can appropriately correspond to the special characteristics of the movement of straddle-type vehicles. Attached Figure Description

[0011] Figure 1 This diagram illustrates the mounting state of the rider assistance system according to an embodiment of the present invention on a straddle-type vehicle.

[0012] Figure 2 This is a diagram illustrating the system structure of a rider assistance system according to an embodiment of the present invention.

[0013] Figure 3 This diagram illustrates the detection status of the surrounding environment detection device in the context of a rider assistance system according to an embodiment of the present invention, when a straddle-type vehicle is weaving between trains.

[0014] Figure 4 This is a diagram illustrating the operation flow of the control device of the rider assistance system according to an embodiment of the present invention. Detailed Implementation

[0015] The control device, rider assistance system, and control method of the present invention will be described below with reference to the accompanying drawings.

[0016] Furthermore, the structures and actions described below are examples, and the control device, rider assistance system, and control method of the present invention are not limited to such structures and actions.

[0017] For example, the rider assistance system of the present invention has been described below for use in two-wheeled motor vehicles, but the rider assistance system of the present invention can also be used in other straddle-type vehicles besides two-wheeled motor vehicles. Straddle-type vehicles include, for example, motorcycles (two-wheeled motor vehicles, three-wheeled motor vehicles), all-terrain vehicles, bicycles, etc. Motorcycles include vehicles powered by an engine and vehicles powered by an electric motor, such as motorized bicycles, scooters, electric scooters, etc. Furthermore, bicycles refer to all means of transportation that can be propelled on a road by the pedaling force applied by the rider. Bicycles include ordinary bicycles, electric-assisted bicycles, electric bicycles, etc.

[0018] Furthermore, descriptions of the same or similar elements may be simplified or omitted as appropriate. Additionally, in all figures, the same or similar reference numerals may be used for the same or similar parts, or the reference numerals may be omitted altogether. Furthermore, detailed construction details may be simplified or omitted as appropriate.

[0019] Implementation method.

[0020] The rider assistance system described below is an example of an implementation method.

[0021] <Structure of Rider Assistance System>

[0022] The structure of the rider assistance system in the implementation method is described.

[0023] Figure 1 This diagram illustrates the mounting state of the rider assistance system according to an embodiment of the present invention on a straddle-type vehicle. Figure 2 This is a diagram illustrating the system structure of a rider assistance system according to an embodiment of the present invention. Figure 3 This diagram illustrates the detection status of the surrounding environment detection device in the context of a rider assistance system according to an embodiment of the present invention, when a straddle-type vehicle is weaving between trains.

[0024] like Figures 1-3 As shown, the rider assistance system 1 is mounted on the straddle-type vehicle 100. The rider assistance system 1 includes an environment detection device 11 for detecting the surrounding environment information of the straddle-type vehicle 100, a travel status detection device 12 for detecting the travel status information of the straddle-type vehicle 100, and a control device (electronic control unit) 20.

[0025] The rider assistance system 1, as needed, utilizes ambient environment information obtained from the output of the ambient environment detection device 11 to perform rider assistance actions to assist the rider of the straddle-type vehicle 100. As needed, it also inputs detection results from various detection devices (not shown) that output other information (e.g., information on the rider's brake operation status, information on the rider's accelerator operation status, etc.) to the control device 20. Each part of the rider assistance system 1 can be dedicated to the rider assistance system 1, or it can be shared with other systems.

[0026] The surrounding environment detection device 11 may be, for example, a radar, lidar sensor, ultrasonic sensor, camera, etc. There may be one or more surrounding environment detection devices 11. When there is one surrounding environment detection device 11, it is located at the front of the straddle-type vehicle 100, and its detection range R can face forward along the travel line DL of the straddle-type vehicle 100. Alternatively, the surrounding environment detection device 11 may be located at the rear of the straddle-type vehicle 100, and its detection range R can face rearward along the travel line DL of the straddle-type vehicle 100. Furthermore, when there are multiple surrounding environment detection devices 11, they may be located at the front, side, or rear of the straddle-type vehicle 100, with one of their detection ranges R facing to the left of the travel line DL of the straddle-type vehicle 100, and another facing to the right of the travel line DL of the straddle-type vehicle 100. Furthermore, other surrounding environment detection devices 11 that do not necessarily contribute to the analysis of the presence or absence of train-to-train movement, as described later, may also be provided. In addition, the travel line DL is the past or future travel trajectory of the straddle-type vehicle 100.

[0027] The motion state detection device 12 includes a vehicle speed sensor and an inertial measurement unit (IMU). The vehicle speed sensor detects the vehicle speed generated at the straddle-type vehicle 100. The inertial sensor detects the three-axis acceleration and three-axis (tilt, pitch, yaw) angular velocities generated at the straddle-type vehicle 100. The motion state detection device 12 may also detect other physical quantities that can be substantially converted into the vehicle speed, three-axis acceleration, and three-axis angular velocities generated at the straddle-type vehicle 100. Furthermore, the inertial sensor may detect only a portion of the three-axis acceleration and three-axis angular velocities. Additionally, at least one of the vehicle speed sensor and the inertial sensor may be omitted if necessary, and other sensors may be added.

[0028] The control device 20 includes at least an acquisition unit 21, a parsing unit 22, and an execution unit 23. The various parts of the control device 20 can be housed in a single housing, or they can be housed separately in multiple housings. Furthermore, part or all of the control device 20 may be constituted, for example, a personal computer, a microprocessor unit, or an updatable structure such as firmware, or a program component executed according to instructions from a central processing unit, etc.

[0029] like Figure 3 As shown, when the straddle-type vehicle 100 is traveling between the left and right vehicle trains 200 and 300, the acquisition unit 21 acquires the surrounding environment information of the straddle-type vehicle 100 based on the output of the surrounding environment detection device 11.

[0030] Specifically, the acquisition unit 21 acquires left-side relative speed information based on the output of the surrounding environment detection device 11. This left-side relative speed information represents the relative speed of the left-side train vehicle 201 relative to the straddle-type vehicle 100. The left-side train vehicle 201 is located to the left of the straddle-type vehicle 100's travel line DL (i.e., Figure 3 The example is a lane L2), specifically the vehicle in the left-hand vehicle 200. This left-hand vehicle 201 can be the vehicle closest in relative distance to the straddle-type vehicle 100. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between platoons. Furthermore, the left-hand relative speed information can also be information representing the average relative speed of two or more left-hand vehicles 201 relative to the straddle-type vehicle 100. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between platoons. Vehicles located to the left of the straddle-type vehicle 100's travel line DL, whose relative distance to the straddle-type vehicle 100 is below a reference value, can be selected as left-hand vehicles 201. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between platoons. Furthermore, the left-hand relative speed information can be information relative to vehicles located to the left front of the straddle-type vehicle 100. This configuration allows for more appropriate rider assistance actions to be performed based on future predictions of vehicle movement between platoons. Additionally, the left-side relative speed information can also be information relative to vehicles located to the left or rear left of the straddle-type vehicle 100. In this case, appropriate rider assistance actions can also be performed. The left-side relative speed information can be the speed difference in a direction parallel to the travel line DL of the straddle-type vehicle 100, or it can be the differential value of the inter-vehicle distance, or other physical quantities that can be substantially converted into them. When the left-side relative speed information is the speed difference in a direction parallel to the travel line DL of the straddle-type vehicle 100, or other physical quantities that can be substantially converted into that speed difference, the accuracy of analyzing the presence or absence of vehicle-to-vehicle interweaving is improved.

[0031] Furthermore, the acquisition unit 21 acquires left-side density information, representing the density of multiple left-side train formations 201, based on the output of the surrounding environment detection device 11. Vehicles located to the left of the straddle-type vehicle 100's travel line DL, whose relative distance to the straddle-type vehicle 100 is below a reference value, can be selected as left-side train formations 201. This configuration improves the accuracy of analyzing the presence or absence of train formations. Furthermore, the left-side density information can be relative to vehicles located to the left front of the straddle-type vehicle 100. This configuration allows for more appropriate rider assistance actions to be performed based on future predictions of train formation movement. Additionally, the left-side density information can also be relative to vehicles located to the left or left rear of the straddle-type vehicle 100. In this case, appropriate rider assistance actions can also be performed. The left-side density information can be the reciprocal of the distance between two left-side train cars 201, or the average of the reciprocals of the distances between three or more left-side train cars 201, or the number of left-side train cars 201 located within a given area, or the overtaking time interval of the straddle-type vehicle 100, or other physical quantities that can be substantially converted into them.

[0032] Furthermore, based on the output of the surrounding environment detection device 11, the acquisition unit 21 acquires right-side relative speed information. This right-side relative speed information represents the relative speed of the right-side train vehicle 301 relative to the straddle-type vehicle 100. The right-side train vehicle 301 is located to the right of the straddle-type vehicle 100's travel line DL (i.e., Figure 3The example is a lane L1, specifically the right-hand vehicle 300. This right-hand vehicle 301 can be the closest vehicle to the straddle-type vehicle 100 in relative distance. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between lanes. Furthermore, the right-hand relative speed information can also represent the average relative speed of two or more right-hand vehicles 301 relative to the straddle-type vehicle 100. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between lanes. Vehicles located to the right of the straddle-type vehicle 100's travel line DL, whose relative distance to the straddle-type vehicle 100 is below a reference value, can be selected as right-hand vehicles 301. This configuration improves the accuracy of analyzing the presence or absence of vehicle movement between lanes. Furthermore, the right-hand relative speed information can be information relative to vehicles located to the right front of the straddle-type vehicle 100. This configuration allows for more appropriate rider assistance actions to be performed based on future predictions of vehicle movement between lanes. Additionally, the right-side relative speed information can also be information relative to vehicles located to the right or right rear of the straddle-type vehicle 100. In this case, appropriate rider assistance actions can also be performed. The right-side relative speed information can be the speed difference in a direction parallel to the travel line DL of the straddle-type vehicle 100, or it can be the differential value of the inter-vehicle distance, or other physical quantities that can be substantially converted into them. When the right-side relative speed information is the speed difference in a direction parallel to the travel line DL of the straddle-type vehicle 100, or other physical quantities that can be substantially converted into that speed difference, the accuracy of analyzing the presence or absence of vehicle-to-vehicle interweaving is improved.

[0033] Furthermore, the acquisition unit 21 acquires right-side density information, representing the density of multiple right-side train cars 301, based on the output of the surrounding environment detection device 11. Cars located to the right of the straddle-type vehicle 100's travel line DL, whose relative distance to the straddle-type vehicle 100 is less than a reference value, can be selected as right-side train cars 301. This configuration improves the accuracy of analyzing the presence or absence of train-to-train movement. Furthermore, the right-side density information can be relative to vehicles located to the right front of the straddle-type vehicle 100. This configuration allows for more appropriate rider assistance actions to be performed based on future predictions of train-to-train movement. Additionally, the right-side density information can also be relative to vehicles located to the right or right rear of the straddle-type vehicle 100. In this case, appropriate rider assistance actions can also be performed. The right-side density information can be the reciprocal of the distance between two right-side train cars 301, or the average of the reciprocals of the distances between three or more right-side train cars 301, or the number of right-side train cars 301 located within a given area, or the time interval for the overtaking of a straddle-type vehicle 100, or other physical quantities that can be substantially converted into them.

[0034] The analysis unit 22 analyzes whether the straddle-type vehicles 100 are moving between trains based on the surrounding environment information obtained by the acquisition unit 21.

[0035] Specifically, when the left relative speed information indicates a relative speed lower than the reference, the left density information indicates a density exceeding the reference, the right relative speed information indicates a relative speed lower than the reference, and the right density information indicates a density exceeding the reference, the analysis unit 22 determines that there is a straddle-type vehicle 100 moving between trains.

[0036] The execution unit 23 executes the rider assistance actions corresponding to the analysis results of the presence or absence of trains moving between trains in the analysis unit 22.

[0037] As an example, the actuator 23 executes cruise control or adaptive cruise control actions of the straddle-type vehicle 100 as rider-assisted actions. In cruise control, the motion control device 30 controls various mechanisms (e.g., brakes, engine, etc.) to make the straddle-type vehicle 100 travel at a target speed set by the rider. In adaptive cruise control, in addition to this control, a distance from the preceding vehicle is maintained. That is, in adaptive cruise control, when there is no preceding vehicle, the motion control device 30 controls various mechanisms (e.g., brakes, engine, etc.) to make the straddle-type vehicle 100 travel at the target speed set by the rider; when there is a preceding vehicle, the motion control device 30 controls various mechanisms (e.g., brakes, engine, etc.) to make the straddle-type vehicle 100 travel at a speed below the target speed and at a speed aimed at maintaining a distance from the preceding vehicle. The actuator 23 outputs control commands to the motion control device 30 to make various mechanisms (e.g., brakes, engine, etc.) execute cruise control or adaptive cruise control actions. During adaptive cruise control, the actuator 23 obtains the travel status of the preceding vehicle (e.g., relative distance, relative speed, relative acceleration, etc. relative to the straddle-type vehicle 100) based on the output of the surrounding environment detection device 11, and sets a target speed. Furthermore, the distance between the actuator 23 and the preceding vehicle can be adjusted by the rider. When the actuator 23 is performing cruise control or adaptive cruise control, the analysis unit 22 determines that the travel status of the straddle-type vehicle 100 is inter-vehicle weaving (see reference). Figure 3 When the judgment is made, the rider assistance action corresponding to that judgment is executed. For example, the actuator 23 forcibly cancels or interrupts the cruise control action or the adaptive cruise control action. In addition, the actuator 23 forcibly reduces the target speed under the cruise control action or the adaptive cruise control action by a predetermined amount or to a predetermined value.

[0038] As an example, the actuator 23 performs a forward collision suppression action on the straddle-type vehicle 100 as a rider assistance action. When the forward collision suppression action is activated, the likelihood of collision with an object (e.g., vehicle, person, animal, obstacle, falling object, etc.) located in front of the straddle-type vehicle 100 is determined. If the likelihood of collision exceeds a reference, the warning device 40 issues a warning. The warning device 40 may issue a warning by sound, by display or illumination, by vibration, or by a combination thereof. Alternatively, the warning device 40 may control various mechanisms (e.g., brakes, engine, etc.) to momentarily decelerate or accelerate the straddle-type vehicle 100, thereby generating a vibration as a warning. Alternatively, during the forward collision suppression action, the action control device 30 may control various mechanisms (e.g., brakes, engine, etc.) to automatically avoid a collision on the straddle-type vehicle 100. The execution unit 23, based on the output of the surrounding environment detection device 11, obtains information about objects located ahead (e.g., relative distance, relative speed, relative acceleration, etc. relative to the straddle-type vehicle 100) and determines the likelihood of a collision. Furthermore, the warning device 40 can be installed on the straddle-type vehicle 100, or on spare parts attached to the straddle-type vehicle 100 (e.g., helmet, gloves, etc.), or it can be a device that warns drivers of other vehicles, or it can be a device that outputs control commands to warning devices attached to other vehicles or other vehicles' spare parts. When the forward collision suppression action is effective, the execution unit 23, through the analysis unit 22, determines that the straddle-type vehicle 100 is moving in a weaving pattern between vehicles (see reference). Figure 3 When the judgment result of the analysis unit 22 is obtained, the rider assistance action corresponding to the determination is executed. For example, the execution unit 23 forcibly prohibits or reduces the warning of a forward collision suppression action. Furthermore, the execution unit 23 forcibly prohibits or reduces the deceleration generated at the straddle-type vehicle 100 for the purpose of warning or avoidance. Furthermore, the execution unit 23 forcibly lowers the upper limit of the deceleration generated at the straddle-type vehicle 100 for the purpose of warning or avoidance. Additionally, the rider assistance action that changes the execution unit 23 in accordance with the determination result of the analysis unit 22 can also be a collision suppression action relative to an object (e.g., a vehicle, a fallen object, etc.) located behind or to the side of the straddle-type vehicle 100. Under such a collision suppression action, the execution unit 23 can also operate in the same manner as in the case of a forward collision suppression action.

[0039] As an example, the execution unit 23 performs a rider-assist action to warn of vehicles traveling in blind spots on the straddle-type vehicle 100. When the blind spot warning action is activated, it determines whether there is a vehicle diagonally behind the straddle-type vehicle 100. If such a vehicle is present, the warning device 40 issues a warning. The warning device 40 can issue a warning by sound, by display or illumination, by vibration, or a combination thereof. Alternatively, the warning device 40 can control various mechanisms (e.g., brakes, engine, etc.) to momentarily decelerate or accelerate the straddle-type vehicle 100, thereby generating a vibration as a warning. The execution unit 23 determines whether there is a vehicle diagonally behind the straddle-type vehicle 100 based on the output of the ambient environment detection device 11. When the blind spot warning action is activated, the execution unit 23, in conjunction with the analysis unit 22, determines that the straddle-type vehicle 100 is traveling between trains (see reference). Figure 3 When the judgment is made, the rider assistance action corresponding to that judgment is executed. For example, the actuator 23 forcibly prohibits or weakens the warning action for a vehicle traveling in a blind spot. Furthermore, the actuator 23 forcibly prohibits, for example, deceleration at the straddle-type vehicle 100 for the purpose of warning. Furthermore, the actuator 23 forcibly lowers, for example, the upper limit of deceleration generated at the straddle-type vehicle 100 for the purpose of warning.

[0040] As an example, the execution unit 23 executes the overtaking assist action of the straddle-type vehicle 100 as a rider assist action. When the overtaking assist action is activated, it determines whether the rider intends to overtake. If such an intention is present, the action control device 30 controls various mechanisms (e.g., brakes, engine, etc.) to increase the acceleration of the straddle-type vehicle 100 by a predetermined amount. The execution unit 23 outputs control commands to the action control device 30 to cause various mechanisms (e.g., brakes, engine, etc.) to execute the overtaking assist action. When the overtaking assist action is activated, the execution unit 23 determines, through the analysis unit 22, that the straddle-type vehicle 100 is moving between trains (see reference). Figure 3 When the condition is met, the rider assistance action corresponding to the determination is executed. For example, the execution unit 23 forcibly prohibits the increase in acceleration caused by the overtaking assistance action. In addition, the execution unit 23 forcibly reduces the increase in acceleration by a predetermined amount or to a predetermined value.

[0041] As an example, the execution unit 23 determines, by the analysis unit 22, that the straddle-type vehicle 100 is moving between trains (see reference). Figure 3When the speed of the straddle-type vehicle 100 changes, the actuator 23 performs rider-assisted actions that change the speed or speed gradient of the straddle-type vehicle 100. The actuator 23 outputs control commands to the action control device 30 to change the speed or speed gradient of various mechanisms (e.g., brakes, engine, etc.). For example, the actuator 23 forcibly reduces the speed generated at the straddle-type vehicle 100 by a predetermined amount or to a predetermined value. Furthermore, the actuator 23 forcibly increases the deceleration generated at the straddle-type vehicle 100 by a predetermined amount or to a predetermined value. Additionally, the speed gradient is a concept that includes both acceleration and deceleration.

[0042] As an example, the execution unit 23 determines, by the analysis unit 22, that the straddle-type vehicle 100 is moving between trains (see reference). Figure 3 When the indicator light device 50 of the straddle-type vehicle 100 is activated, rider assistance actions are performed to change the operation of the indicator light device 50. The actuator 23 outputs control commands to the indicator light device 50. For example, the actuator 23 starts to illuminate or flash the headlight of the indicator light device 50. In addition, for example, the actuator 23 changes the illumination of the headlight of the indicator light device 50 to high beam. In addition, for example, the actuator 23 starts to flash or illuminate the left and right turn signals of the indicator light device 50. At this time, it is possible that only the left and right turn signals provided at the front of the straddle-type vehicle 100 flash or illuminate, or it is possible that, in addition to these, the left and right turn signals provided at the rear of the straddle-type vehicle 100 also flash or illuminate.

[0043] <Rider Assist System Actions>

[0044] The operation of the rider assistance system in the implementation method will be explained.

[0045] Figure 4 This diagram illustrates the operation flow of the control device of the rider assistance system according to an embodiment of the present invention. Furthermore, the order of the steps can be appropriately reversed, and additional steps can be added as appropriate.

[0046] Control device 20 repeatedly executes commands during the movement of straddle-type vehicle 100. Figure 4 The action flow is represented in the text.

[0047] (Steps to obtain)

[0048] In step S101, the acquisition unit 21 acquires the surrounding environment information of the straddle-type vehicle 100 based on the output of the surrounding environment detection device 11.

[0049] (Analysis steps)

[0050] Next, in step S102, the analysis unit 22 analyzes whether the straddle-type vehicle 100 is moving between trains based on the surrounding environment information obtained in step S101.

[0051] (Execution steps)

[0052] Next, in step S103, the execution unit 23 executes rider assistance actions corresponding to the analysis results of the presence or absence of vehicle train interleaving in step S102.

[0053] <The effect of the rider assistance system>

[0054] The effects of the rider assistance system implemented in this way will be explained.

[0055] In rider assistance system 1, based on the output of at least one surrounding environment detection device 11, the surrounding environment information of the straddle-type vehicle 100 is obtained. Based on the surrounding environment information, the system analyzes whether the straddle-type vehicle 100 is moving between vehicle formations, and executes rider assistance actions corresponding to the analysis results. Therefore, it can appropriately correspond to the special characteristics of the straddle-type vehicle 100's movement.

[0056] Preferably, the acquisition unit 21 acquires information about the surrounding environment in front of the straddle-type vehicle 100 as surrounding environment information. With this configuration, more appropriate rider assistance actions can be performed based on future predictions of the straddle-type vehicle 100's movement between trains.

[0057] Preferably, the acquisition unit 21 acquires information representing the relative speed of at least one left-hand train 201 relative to the straddle-type vehicle 100 (i.e., left-hand relative speed information), information representing the density of multiple left-hand train 201s (i.e., left-hand density information), information representing the relative speed of at least one right-hand train 301 relative to the straddle-type vehicle 100 (i.e., right-hand relative speed information), and information representing the density of multiple right-hand train 301s (i.e., right-hand density information) as surrounding environment information. With this configuration, the analysis of the inter-train movement of the straddle-type vehicle 100 is made more accurate. In particular, the acquisition unit 21 can select vehicles located around the straddle-type vehicle 100 whose relative distance to the straddle-type vehicle 100 is less than a reference value as either left-hand train 201s or right-hand train 301s. With this configuration, the analysis of the inter-train movement of the straddle-type vehicle 100 is made even more accurate.

[0058] Preferably, the analysis results of the presence or absence of vehicle-to-vehicle movement by the execution unit 23 and the analysis unit 22 correspond to changes in the cruise control or adaptive cruise control actions of the straddle-type vehicle 100. Furthermore, the analysis results of the presence or absence of vehicle-to-vehicle movement by the execution unit 23 and the analysis unit 22 correspond to changes in the collision suppression actions of the straddle-type vehicle 100. Furthermore, the analysis results of the presence or absence of vehicle-to-vehicle movement by the execution unit 23 and the analysis unit 22 correspond to changes in the blind spot warning actions of the straddle-type vehicle 100. Furthermore, the analysis results of the presence or absence of vehicle-to-vehicle movement by the execution unit 23 and the analysis unit 22 correspond to changes in the overtaking assist actions of the straddle-type vehicle 100. Among these actions, the need for appropriate information is high. That is, analyzing the presence or absence of vehicle-to-vehicle movement by the straddle-type vehicle 100 is particularly useful in these actions.

[0059] Preferably, the actuator 23 performs rider assistance actions that change the speed or speed gradient of the straddle-type vehicle 100 in accordance with the analysis results of the analysis unit 22 regarding the presence or absence of vehicle-to-vehicle inter-travel. Furthermore, the actuator 23 performs rider assistance actions that change the operation of the indicator light device 50 of the straddle-type vehicle 100 in accordance with the analysis results of the analysis unit 22 regarding the presence or absence of vehicle-to-vehicle inter-travel. This configuration allows for a more appropriate response to the specific characteristics of the straddle-type vehicle 100's movement.

[0060] The embodiments of the present invention are not limited to the above description. That is, the present invention includes modifications to the embodiments described above. Specifically, the present invention includes embodiments that implement only a portion of the embodiments described above, or combinations thereof.

[0061] For example, the above describes the case where the acquisition unit 21 acquires left-side relative speed information, left-side density information, right-side relative speed information, and right-side density information as surrounding environment information. However, the acquisition unit 21 can also acquire other information. That is, the analysis unit 22 can also analyze whether or not the straddle-type vehicles 100 are moving between trains based on other information. For example, the acquisition unit 21 may acquire information indicating the absolute speed of multiple left-side trains 201 whose relative distance to the straddle-type vehicles 100 is shorter than a predetermined value, information indicating the absolute speed of multiple right-side trains 301 whose relative distance to the straddle-type vehicles 100 is shorter than a predetermined value, and information indicating the travel position of the straddle-type vehicles 100. The analysis unit 22 analyzes whether or not the straddle-type vehicles 100 are moving between trains based on this information. In this case, the density of the left-side trains 200 and the right-side trains 300 may be considered, or the density of the left-side trains 200 and the right-side trains 300 may not be considered. Alternatively, the legally mandated speed can also be considered.

[0062] Explanation of reference numerals in the attached figures

[0063] 1 Rider assistance system, 11 Surrounding environment detection device, 12 Travel status detection device, 20 Control device, 21 Acquisition unit, 22 Analysis unit, 23 Execution unit, 30 Action control device, 40 Warning device, 50 Indicator light device, 100 Straddle-type vehicle, 200, 300 train, 201, 301 vehicle, DL travel line, L1, L2 lane, R detection range.

Claims

1. A control device (20) for a straddle-type vehicle (100), the straddle-type vehicle (100) being equipped with at least one ambient environment detection device (11), characterized in that, Equipped with an execution unit (23), the aforementioned execution unit (23) performs rider assistance actions, which assist the rider of the aforementioned straddle-type vehicle (100). Furthermore, the aforementioned control device (20) includes an acquisition unit (21) and an analysis unit (22). The aforementioned acquisition unit (21) acquires the surrounding environment information of the aforementioned straddle-type vehicle (100) based on the output of the aforementioned surrounding environment detection device (11). The aforementioned analysis unit (22) determines whether the aforementioned straddle-type vehicle (100) is moving between trains based on the aforementioned surrounding environment information obtained by the aforementioned acquisition unit (21). The aforementioned rider assistance action is executed based on whether the aforementioned execution unit (23) and the aforementioned analysis unit (22) determine whether the aforementioned straddle-type vehicle (100) is traveling in the same manner as the aforementioned vehicle train interleaving. The aforementioned acquisition unit (21) acquires the left relative velocity information, left density information, right relative velocity information, and right density information as the aforementioned surrounding environment information. The aforementioned left-side relative speed information refers to the relative speed of at least one left-side train car (201) relative to the straddle-type car (100), wherein the aforementioned left-side train car (201) is a car belonging to the left-side train (200), and the aforementioned left-side train (200) is a train located to the left of the travel line (DL) of the aforementioned straddle-type car (100). The aforementioned left-side density information refers to the density of multiple aforementioned left-side train cars (201). The aforementioned right-side relative speed information refers to the relative speed of at least one right-side train car (301) relative to the straddle-type car (100), wherein the aforementioned right-side train car (301) is a car belonging to the right-side train (300), and the aforementioned right-side train (300) is a train located to the right of the aforementioned straddle-type car (100) on the aforementioned line of travel (DL). The aforementioned right-side density information refers to the density of multiple right-side train cars (301). If the aforementioned analysis unit (22) determines that the aforementioned straddle-type vehicle (100) is traveling in a train-to-train manner when the aforementioned left relative speed information obtained by the aforementioned acquisition unit (21) indicates a relative speed lower than the reference, the aforementioned left density information obtained by the aforementioned acquisition unit (21) indicates a density exceeding the reference, the aforementioned right relative speed information obtained by the aforementioned acquisition unit (21) indicates a relative speed lower than the reference, and the aforementioned right density information obtained by the aforementioned acquisition unit (21) indicates a density exceeding the reference, the aforementioned analysis unit (22) determines that the aforementioned straddle-type vehicle (100) is traveling in a train-to-train manner.

2. The control device (20) as described in claim 1, characterized in that, The aforementioned acquisition unit (21) acquires the surrounding environment information in front of the aforementioned straddle-type vehicle (100) as the aforementioned surrounding environment information.

3. The control device (20) as described in claim 1, characterized in that, The aforementioned acquisition unit (21) selects from the vehicles located around the aforementioned straddle-type vehicle (100) a vehicle whose relative distance to the straddle-type vehicle (100) is less than a reference value as the aforementioned left-hand train vehicle (201) or the aforementioned right-hand train vehicle (301).

4. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines that the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is moving between the aforementioned trains, it causes the cruise control action or adaptive cruise control action of the aforementioned straddle-type vehicle (100) which is performing the aforementioned rider assistance action to change.

5. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines that the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is moving between the aforementioned trains, the aforementioned straddle-type vehicle (100) which is performing the aforementioned rider assistance action changes.

6. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines that the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is moving between the aforementioned trains, it causes the aforementioned straddle-type vehicle (100) to change the blind spot vehicle warning action as the aforementioned rider assistance action.

7. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines whether the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is traveling between the aforementioned trains, it causes the overtaking assist action of the aforementioned straddle-type vehicle (100) which is performed as the aforementioned rider assist action to change.

8. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines that the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is moving between the aforementioned trains, it executes the aforementioned rider assistance action that changes the speed or speed gradient of the aforementioned straddle-type vehicle (100).

9. The control device (20) as described in any one of claims 1 to 3, characterized in that, When the aforementioned execution unit (23) determines that the aforementioned straddle-type vehicle (100) of the aforementioned analysis unit (22) is moving between the aforementioned trains, it executes the aforementioned rider assistance action that changes the operation of the indicator light device of the aforementioned straddle-type vehicle (100).

10. A rider assistance system (1), characterized in that, The control device (20) is provided with any one of claims 1 to 9.

11. A control method for a straddle-type vehicle (100) equipped with at least one ambient environment detection device (11), characterized in that, The system includes an execution step (S103), in which the execution unit (23) of the control device (20) performs a rider assistance action to assist the rider of the straddle-type vehicle (100). Furthermore, it includes the acquisition step (S101) and the parsing step (S102). In the aforementioned acquisition step (S101), the acquisition unit (21) of the aforementioned control device (20) acquires the surrounding environment information of the aforementioned straddle-type vehicle (100) based on the output of the aforementioned surrounding environment detection device (11). In the aforementioned analysis step (S102), the analysis unit (22) of the aforementioned control device (20) determines whether the travel status of the aforementioned straddle-type vehicle (100) is inter-train movement based on the aforementioned surrounding environment information obtained in the aforementioned acquisition step (S101). In the aforementioned execution step (S103), the aforementioned execution unit (23) executes the aforementioned rider assistance action based on whether the travel status of the aforementioned straddle-type vehicle (100) in the aforementioned analysis step (S102) corresponds to the determination result of the aforementioned inter-train travel. The aforementioned acquisition unit (21) acquires the left relative velocity information, left density information, right relative velocity information, and right density information as the aforementioned surrounding environment information. The aforementioned left-side relative speed information refers to the relative speed of at least one left-side train car (201) relative to the straddle-type car (100), wherein the aforementioned left-side train car (201) is a car belonging to the left-side train (200), and the aforementioned left-side train (200) is a train located to the left of the travel line (DL) of the aforementioned straddle-type car (100). The aforementioned left-side density information refers to the density of multiple aforementioned left-side train cars (201). The aforementioned right-side relative speed information refers to the relative speed of at least one right-side train car (301) relative to the straddle-type car (100), wherein the aforementioned right-side train car (301) is a car belonging to the right-side train (300), and the aforementioned right-side train (300) is a train located to the right of the aforementioned straddle-type car (100) on the aforementioned line of travel (DL). The aforementioned right-side density information refers to the density of multiple right-side train cars (301). If the aforementioned analysis unit (22) determines that the aforementioned straddle-type vehicle (100) is traveling in a train-to-train manner when the aforementioned left relative speed information obtained by the aforementioned acquisition unit (21) indicates a relative speed lower than the reference, the aforementioned left density information obtained by the aforementioned acquisition unit (21) indicates a density exceeding the reference, the aforementioned right relative speed information obtained by the aforementioned acquisition unit (21) indicates a relative speed lower than the reference, and the aforementioned right density information obtained by the aforementioned acquisition unit (21) indicates a density exceeding the reference, the aforementioned analysis unit (22) determines that the aforementioned straddle-type vehicle (100) is traveling in a train-to-train manner.

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