Control device of rider assistance system, rider assistance system and control method of rider assistance system

Abstract

The present invention obtains a control device capable of improving the assistance of a rider. In addition, a rider assistance system having such a control device is obtained. In addition, a control method for such a rider assistance system is obtained. When the traveling posture information of a tilted vehicle (100) is obtained, and the traveling posture information is information indicating that a tilt exceeding a reference occurs at the tilted vehicle (100), a first rider assistance action for assisting the rider's driving is prohibited from being started using information of a first object (T1) located on the side of a travel line (DL) of the tilted vehicle (100), and a second rider assistance action for assisting the rider's driving is permitted to be started using information of a second object (T2) located on the travel line (DL) of the tilted vehicle (100).

Description

Technical Field

[0001] The present invention relates to a control device of a rider assistance system, a rider assistance system having the control device, and a control method of such a rider assistance system. The rider assistance system is mounted on a tilting vehicle and has at least one surrounding environment detection device that outputs surrounding environment information of the tilting vehicle. Background Art

[0002] The following system is known as a conventional rider assistance system: a system that is mounted on a tilted vehicle and has at least one surrounding environment detection device that outputs surrounding environment information of the tilted vehicle, obtains information of a first object located to the side of a travel line of the tilted vehicle, i.e., first object information, based on the surrounding environment information, and uses the first object information to perform a first rider assistance action for assisting a rider in driving the tilted vehicle (for example, Patent Document 1).

[0003] Patent document 1: German Patent Application Publication No. 102013218458.

[0004] In order to improve the assistance of the rider, in the conventional rider assistance system, it is possible to study that in addition to the first rider assistance action using the first object information, a second rider assistance action is performed to assist the rider of the leaning vehicle in driving using the second object information, that is, the second object information, which is information about the second object located on the travel line of the leaning vehicle. However, when the leaning vehicle is traveling in a state of a large tilt, no study has been conducted on how the first rider assistance action and the second rider assistance action should be performed in relation to each other. Summary of the invention

[0005] The present invention is made against the background of the above problems, and provides a control device capable of improving the assistance of a rider, a rider assistance system including such a control device, and a control method for such a rider assistance system.

[0006] The control device of the present invention is a control device of a rider assistance system, wherein the rider assistance system is mounted on a tilting vehicle, and the rider assistance system includes at least one surrounding environment detection device that outputs surrounding environment information of the tilting vehicle, wherein the control device includes a first acquisition unit and a first execution unit, wherein the first acquisition unit acquires first object information based on the surrounding environment information, wherein the first object information is information of a first object located to the side of a travel line of the tilting vehicle, wherein the first execution unit causes the rider assistance system to start a first rider assistance action corresponding to the first object information acquired by the first acquisition unit, wherein the first rider assistance action assists the rider of the tilting vehicle in driving, and wherein the control device further includes a second acquisition unit, a second execution unit, and a third acquisition unit. The second acquisition unit acquires second object information based on the surrounding environment information, the second object information is information of a second object located on the travel line of the tilted vehicle, the second execution unit causes the rider assistance system to start a second rider assistance action corresponding to the second object information acquired by the second acquisition unit, the second rider assistance action assists the rider in driving, the third acquisition unit acquires traveling posture information, the traveling posture information is information indicating the traveling posture of the tilted vehicle, and when the traveling posture information acquired by the third acquisition unit is information indicating that a tilt exceeding a reference occurs at the tilted vehicle, the first execution unit is prohibited from starting the first rider assistance action, and the second execution unit is allowed to start the second rider assistance action.

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

[0008] The control method of the present invention is a control method for a rider assistance system, wherein the rider assistance system is mounted on a tilting vehicle, and the rider assistance system includes at least one surrounding environment detection device that outputs surrounding environment information of the tilting vehicle, wherein the control method includes a first acquisition step and a first execution step, wherein in the first acquisition step, the first acquisition unit of the control device acquires first object information based on the surrounding environment information, wherein the first object information is information of a first object located to the side of a travel line of the tilting vehicle, wherein in the first execution step, the first execution unit of the control device causes the rider assistance system to start a first rider assistance action corresponding to the first object information acquired in the first acquisition step, wherein the first rider assistance action assists the rider of the tilting vehicle in driving, and wherein the control method further includes a second acquisition step, a second execution step, and a third acquisition step, wherein in the second In the acquisition step, the second acquisition unit of the control device acquires second object information based on the surrounding environment information, the second object information being information of a second object located on the travel line of the tilted vehicle. In the second execution step, the second execution unit of the control device causes the rider assistance system to start a second rider assistance action corresponding to the second object information acquired in the second acquisition step, the second rider assistance action assists the rider in driving. In the third acquisition step, the third acquisition unit of the control device acquires traveling posture information, the traveling posture information being information indicating a traveling posture of the tilted vehicle. When the traveling posture information acquired in the third acquisition step is information indicating that a tilt exceeding a benchmark occurs at the tilted vehicle, the first execution unit is prohibited from starting the first rider assistance action, and the second execution unit is allowed to start the second rider assistance action.

[0009] Effects of the Invention

[0010] According to the control device, the rider assistance system and the control method of the present invention, when the traveling posture information of the tilted vehicle is obtained, and the traveling posture information is information indicating that a tilt exceeding a reference occurs at the tilted vehicle, the start of the first rider assistance action is prohibited, and the start of the second rider assistance action is permitted. In the first rider assistance action, it is necessary to obtain the first object information, that is, it is necessary to obtain the information of the first object located to the side of the traveling line of the tilted vehicle, so when the tilted vehicle travels in a state of a large tilt, the detection range of the surrounding environment detection device becomes easy to deviate. On the other hand, in the second rider assistance action, it is only necessary to obtain the second object information, that is, it is only necessary to obtain the information of the second object located on the traveling line of the tilted vehicle, so such deviation is unlikely to occur. Therefore, when the traveling posture information of the tilted vehicle is information indicating that a tilt exceeding a reference occurs at the tilted vehicle, the start of the first rider assistance action is prohibited and the start of the second rider assistance action is permitted. Thus, when the tilted vehicle is traveling in a state in which a large tilt occurs, inappropriate execution of the first rider assistance action that would otherwise hinder the rider's driving is suppressed, and the rider's driving can be appropriately assisted by the second rider assistance action, thereby improving the rider's assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a diagram showing a state where the rider assistance system according to the embodiment of the present invention is mounted on a leaning vehicle.

[0012] Figure 2 It is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention.

[0013] Figure 3 It is a diagram showing a detection state of a surrounding environment detection device of the rider assistance system according to the embodiment of the present invention.

[0014] Figure 4 It is a diagram for explaining the influence of the tilt generated in a leaning vehicle on the rider assistance system according to the embodiment of the present invention.

[0015] Figure 5 It is a diagram showing the operation flow of the control device of the rider assistance system according to the embodiment of the present invention.

[0016] Figure 6 It is a diagram showing a state where the rider assistance system according to the embodiment of the present invention is mounted on a leaning vehicle.

[0017] Figure 7 It is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention.

[0018] Figure 8 It is a diagram showing a detection state of a surrounding environment detection device of the rider assistance system according to the embodiment of the present invention. DETAILED DESCRIPTION

[0019] Hereinafter, the control device, the rider assistance system, and the control method according to the present invention will be described using the accompanying drawings.

[0020] In addition, the configuration, operation, etc. described below are merely examples, and the control device, rider assistance system, and control method of the present invention are not limited to such configuration, operation, etc.

[0021] 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 tilting vehicle means a vehicle that moves while tilting its body toward the inside of the turn when turning. Examples of tilting vehicles are motorcycles (two-wheeled motor vehicles, three-wheeled motor vehicles), bicycles, and the like. Motorcycles include vehicles that use an engine as a propulsion source, vehicles that use an electric motor as a propulsion source, and the like, for example, motor bikes, scooters, electric scooters, and the like. In addition, a bicycle means all vehicles that can be propelled on the road with the help of the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric-assisted bicycles, electric bicycles, and the like.

[0022] In addition, the same or similar descriptions are appropriately simplified or omitted. In addition, in each figure, the same reference numerals are given to the same or similar parts, or the reference numerals are omitted. In addition, the detailed structure is appropriately simplified or omitted.

[0023] Implementation method.

[0024] A rider assistance system according to an embodiment will be described below.

[0025] <Structure of the rider assistance system>

[0026] The configuration of the rider assistance system according to the embodiment will be described.

[0027] Figure 1 It is a diagram showing a state where the rider assistance system according to the embodiment of the present invention is mounted on a leaning vehicle. Figure 2 It is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention. Figure 3 It is a diagram showing a detection state of a surrounding environment detection device of the rider assistance system according to the embodiment of the present invention.

[0028] like Figure 1~Figure 3 As shown, the rider assistance system 1 is mounted on a tilting vehicle 100 . The rider assistance system 1 includes at least a surrounding environment detection device 11 a for outputting surrounding environment information of the tilting vehicle 100 , a running state detection device 12 for outputting running state information of the tilting vehicle 100 , and a control device (electronic control unit) 20 .

[0029] The rider assistance system 1 uses the surrounding environment information output from the surrounding environment detection device 11a to perform a rider assistance action for assisting the rider in driving the leaning vehicle 100. As necessary, detection results of various detection devices (not shown) for outputting other information (for example, information on the rider's brake operation state, information on the rider's accelerator operation state, etc.) are also input to the control device 20. Each part of the rider assistance system 1 may be dedicated to the rider assistance system 1, and may also be shared with other systems.

[0030] The surrounding environment detection device 11a is, for example, a radar, a laser radar sensor, an ultrasonic sensor, a camera, etc. The surrounding environment detection device 11a is disposed at the rear of the tilted vehicle 100. The surrounding environment detection device 11a faces the rear on the travel line DL of the tilted vehicle 100. In addition, the travel line DL is the past or future travel trajectory of the tilted vehicle 100. That is, the center axis of the detection range Ra of the surrounding environment detection device 11a is consistent with the front-to-back direction of the body of the tilted vehicle 100. Generally, at the tilted vehicle 100, the front wheels turn during travel, and on the other hand, the front-to-back direction of the rear wheels is always consistent with the front-to-back direction of the body. Therefore, when the tilted vehicle 100 is turning, the center axis of the detection range Ra of the surrounding environment detection device 11a is also consistent with the front-to-back direction of the body of the tilted vehicle 100. In addition, the center axis of the detection range Ra of the surrounding environment detection device 11a may also be upward or downward relative to the road surface. In this case, when the tilted vehicle 100 is turning, the angular relationship between the central axis of the detection range Ra of the surrounding environment detection device 11a and the front-rear direction of the body of the tilted vehicle 100 does not change. When the tilted vehicle 100 is moving, the surrounding environment detection device 11a always detects the distance and direction of the object in the detection range Ra relative to the tilted vehicle 100. In addition, the surrounding environment detection device 11a may be fixed in both the size and the direction of the detection range Ra, and may also be changed in at least one of the size and the direction.

[0031] The traveling state detection device 12 includes a vehicle speed sensor and an inertial sensor (IMU). The vehicle speed sensor detects the vehicle speed generated at the tilted vehicle 100. The inertial sensor detects the three-axis acceleration and the three-axis angular velocity (roll, pitch, yaw) generated at the tilted vehicle 100. The traveling state detection device 12 may also detect other physical quantities that can be substantially converted into the vehicle speed generated at the tilted vehicle 100, the three-axis acceleration and the three-axis angular velocity generated at the tilted vehicle 100. In addition, the inertial sensor may detect only a part of the three-axis acceleration and the three-axis angular velocity.

[0032] The control device 20 includes at least a first acquisition unit 21, a second acquisition unit 22, a first execution unit 23, and a second execution unit 24. The various parts of the control unit 20 may be collectively arranged in one housing, or may be separately arranged in a plurality of housings. In addition, a part or all of the control unit 20 may be composed of, for example, a personal computer, a microprocessor unit, etc., or may be composed of an updateable structure such as firmware, or may be a program component executed according to instructions from a central processing unit, etc.

[0033] The first acquisition unit 21 acquires information of another vehicle 200 traveling obliquely behind the tilted vehicle 100 based on the output of the surrounding environment detection device 11a, the other vehicle 200 being a first object T1 located to the side of the travel line DL of the tilted vehicle 100. The second acquisition unit 22 acquires information of another vehicle 300 traveling behind the tilted vehicle 100 based on the output of the surrounding environment detection device 11a, the other vehicle 300 being a second object T2 located on the travel line DL of the tilted vehicle 100.

[0034] The first executing unit 23 starts a first rider assisting action for assisting the rider of the tilting vehicle 100 in driving in accordance with the first target information, which is information about the other vehicle 200, acquired by the first acquiring unit 21. Furthermore, the second executing unit 24 starts a second rider assisting action for assisting the rider of the tilting vehicle 100 in driving in accordance with the second target information, which is information about the other vehicle 300, acquired by the second acquiring unit 22.

[0035] Specifically, the first execution unit 23 derives an index value I of the possibility of collision between the tilted vehicle 100 and the other vehicle 200. In addition, the second execution unit 24 derives an index value I of the possibility of collision between the tilted vehicle 100 and the other vehicle 300. The index value I is at least a combination of the reciprocal of the relative distance Dr of the other vehicles 200 and 300 with respect to the tilted vehicle 100 and the relative speed Vr of the other vehicles 200 and 300 with respect to the tilted vehicle 100. The index value I may also be combined with the relative acceleration Ar of the other vehicles 200 and 300 with respect to the tilted vehicle 100. For example, the index value I may be a value defined by the following formula 1 or formula 2. In addition, the larger the index value I is, the higher the possibility of collision is.

[0036] Formula 1

[0037]

[0038] Formula 2

[0039] .

[0040] When the derived index value I exceeds the reference value, the first execution unit 23 determines that the tilted vehicle 100 and the other vehicle 200 will collide, and outputs a control instruction for starting the first rider assistance action to various devices of the tilted vehicle 100 and various devices of the other vehicle 200, for example.

[0041] The first rider assistance action is, for example, a warning action for the rider of the tilted vehicle 100. For example, the first execution unit 23 outputs a control command to the warning device 30 in order to make the warning device 30 provided at the tilted vehicle 100 perform a warning action (for example, display of a warning symbol, lighting of a warning light, a warning buzzer, an audio warning, a tactile vibration warning, etc.) for preventing the tilted vehicle 100 from approaching the other vehicle 200 (for example, a lane change from the lane L1 to the lane L2, insufficient vehicle speed thereafter, etc.). The first execution unit 23 may also output a control command to a warning device of an accessory (for example, something worn or held by the rider) attached to the tilted vehicle 100.

[0042] The first rider assisting action is, for example, a motion control action of the tilting vehicle 100. For example, the first execution unit 23 outputs a control command to the motion control device 40 in order to cause the motion control device 40 provided at the tilting vehicle 100 to perform a motion control action (for example, a reduction in the braking force generated at the tilting vehicle 100, an increase in the driving force generated at the tilting vehicle 100, etc.) for preventing the tilting vehicle 100 from approaching the other vehicle 200 (for example, insufficient vehicle speed after changing the lane from the lane L1 to the lane L2, etc.).

[0043] The first rider assistance action is, for example, a warning action for the driver of the other vehicle 200. For example, the first execution unit 23 outputs a control command to the warning device 30 provided at the other vehicle 200 in order to cause the warning device 30 to perform a warning action (for example, display of a warning symbol, lighting of a warning light, warning buzzer, sound warning, tactile vibration warning, etc.) for preventing the other vehicle 200 from approaching the tilted vehicle 100 (for example, excessive increase in vehicle speed after the tilted vehicle 100 cuts in, continuation of travel in lane L2, etc.). The first execution unit 23 may also output a control command to a warning device of an accessory (for example, something worn or held by the driver, etc.) attached to the other vehicle 200.

[0044] The first rider assisting action is, for example, a behavior control action of the other vehicle 200. For example, the first execution unit 23 outputs a control instruction to the behavior control device 40 in order to cause the behavior control device 40 provided at the other vehicle 200 to perform a behavior control action (for example, reduction of the driving force generated at the other vehicle 200, increase of the braking force generated at the other vehicle 200, automatic steering of the other vehicle 200, etc.) for preventing the other vehicle 200 from approaching the tilted vehicle 100 (for example, excessive increase of the vehicle speed after the tilted vehicle 100 cuts in, continuation of the travel in the lane L2, etc.).

[0045] When the derived index value I exceeds the reference value, the second execution unit 24 determines that the tilted vehicle 100 and the other vehicle 300 will collide, and outputs a control instruction for starting the second rider assistance action to various devices of the tilted vehicle 100 and various devices of the other vehicle 300, for example.

[0046] The second rider assistance action is, for example, a warning action for the rider of the tilted vehicle 100. For example, the second execution unit 24 outputs a control command to the warning device 30 provided at the tilted vehicle 100 in order to cause the warning device 30 to perform a warning action (for example, display of a warning symbol, lighting of a warning light, a warning buzzer, an audio warning, a tactile vibration warning, etc.) for preventing the tilted vehicle 100 from approaching other vehicles 300 (for example, insufficient vehicle speed, continued travel in lane L1, etc.). The second execution unit 24 may also output a control command to a warning device of an accessory (for example, something worn or held by the rider) attached to the tilted vehicle 100.

[0047] The second rider assisting action is, for example, a motion control action of the tilting vehicle 100. For example, the second executing unit 24 outputs a control command to the motion control device 40 in order to cause the motion control device 40 provided at the tilting vehicle 100 to perform a motion control action (for example, reduction of the braking force generated at the tilting vehicle 100, increase of the driving force generated at the tilting vehicle 100, etc.) for preventing the tilting vehicle 100 from approaching the other vehicle 300 (for example, insufficient vehicle speed, etc.).

[0048] The second rider assisting action is, for example, a warning action for the driver of the other vehicle 300. For example, the second actuator 24 outputs a control command to the indicator light device 50 in order to make the indicator light device 50 provided at the tilting vehicle 100 perform a warning action (e.g., continuous lighting, flashing, etc.) for preventing the other vehicle 300 from approaching the tilting vehicle 100 (e.g., excessive increase in vehicle speed, continuation of travel in the lane L1, etc.). In addition, for example, the second actuator 24 outputs a control command to the warning device provided at the other vehicle 300 in order to make the warning device perform a warning action (e.g., display of a warning symbol, lighting of a warning light, warning buzzer, sound warning, tactile vibration warning, etc.) for preventing the other vehicle 300 from approaching the tilting vehicle 100 (e.g., excessive increase in vehicle speed, continuation of travel in the lane L1, etc.). The second actuator 24 may also output a control command to a warning device of a spare part (e.g., something worn or held by the driver, etc.) attached to the other vehicle 300.

[0049] The second rider assisting action is, for example, a behavior control action of the other vehicle 300. For example, the second execution unit 24 outputs a control instruction to the behavior control device provided at the other vehicle 300 in order to cause the behavior control device to perform a behavior control action (for example, reduction of the driving force generated at the other vehicle 300, increase of the braking force generated at the other vehicle 300, automatic steering of the other vehicle 300, etc.) for preventing the other vehicle 300 from approaching the tilted vehicle 100 (for example, excessive increase in vehicle speed, continuation of travel in the lane L1, etc.).

[0050] Here, the control device 20 further includes a third acquisition unit 25. The third acquisition unit 25 acquires information indicating the traveling posture of the tilted vehicle 100, that is, traveling posture information, based on the output of the traveling state detection device 12. The traveling posture information is, for example, the roll angle ( Figure 4 θ), yaw rate, lateral acceleration, etc. That is, the traveling posture information acquired by the third acquisition unit 25 may be any physical quantity as long as it is a physical quantity that can estimate the degree of inclination generated in the tilted vehicle 100. Alternatively, the third acquisition unit 25 may acquire the traveling posture information based on the traveling position information of the tilted vehicle 100 and the map information instead of the output of the traveling state detection device 12.

[0051] When the traveling posture information acquired by the third acquisition unit 25 indicates that a tilt exceeding a reference occurs at the tilting vehicle 100, the first execution unit 23 is prohibited from starting the first rider assisting action, and the second execution unit 24 is permitted to start the second rider assisting action. That is, the execution of the first rider assisting action is prohibited when a large tilt occurs at the tilting vehicle 100, while the second rider assisting action is also executed under such a condition. Therefore, even when a large tilt occurs at the tilting vehicle 100, the surrounding environment detection device 11a is deactivated or the output of the surrounding environment detection device 11a is invalidated. In addition, when a larger tilt occurs at the tilting vehicle 100, the second rider assisting action may be prohibited in addition to the first rider assisting action. In addition, in the state where the first rider assisting action is prohibited, the information of the first object T1 other than the other vehicle 200 outputted from the surrounding environment detection device 11a may be used auxiliary for the second rider assisting action, or another rider assisting action different from the first rider assisting action and the second rider assisting action. For example, in a state where the first rider assisting action is prohibited, information such as the boundary position of the lane L1 where the tilting vehicle 100 is traveling, the presence or absence of other lanes merging or diverging from the lane L1, the presence or absence of the lane L2 adjacent to the lane L1, and the road surface state may be obtained as information of the first object T1, and such information may be supplementarily used to assist in avoiding a collision between the tilting vehicle 100 and the second object T2. In addition, in a state where the first rider assisting action is prohibited, information of other vehicles 200 output from the surrounding environment detection device 11a may be supplementarily used for the second rider assisting action or another rider assisting action different from the first rider assisting action and the second rider assisting action. Even in a situation where a large tilt occurs in the tilting vehicle 100, information of other vehicles 200 can be obtained with relatively low accuracy. Therefore, such information can be supplementarily used in the second rider assisting action or another rider assisting action different from the first rider assisting action and the second rider assisting action.

[0052] Figure 4 It is a diagram for explaining the influence of the tilt generated in a leaning vehicle on the rider assistance system according to the embodiment of the present invention.

[0053] like Figure 4As shown, when a large tilt occurs at the tilting vehicle 100, the detection range Ra of the surrounding environment detection device 11a deviates greatly in the area far from the tilting vehicle 100, that is, the area that helps to obtain the surrounding environment information for the first rider assistance action, and it becomes difficult to capture the first object T1. On the other hand, in the area close to the tilting vehicle 100, that is, the area that helps to obtain the surrounding environment information for the second rider assistance action, the deviation is relatively small, so the capture of the second object T2 is not as difficult as the capture of the first object T1. Therefore, when the running posture information obtained by the third acquisition unit 25 is information indicating that the tilting vehicle 100 has tilted more than the reference, the first execution unit 23 is prohibited from starting the first rider assistance action, and the second execution unit 24 is allowed to start the second rider assistance action, thereby preventing the first rider assistance action from being improperly executed and hindering the rider's driving, and appropriately assisting in avoiding the collision between the tilting vehicle 100 and the other vehicle 300.

[0054] <Operation of the rider assistance system>

[0055] The operation of the rider assistance system according to the embodiment will be described.

[0056] Figure 5 1 is a diagram showing the operation flow of the control device of the rider assistance system according to the embodiment of the present invention. In addition, the order of each step may be appropriately reversed, and additional steps may be appropriately added.

[0057] The control device 20 repeatedly executes the following operations while the tilting vehicle 100 is moving: Figure 5 The action flow represented in .

[0058] (Get Step-1)

[0059] In step S101 , the third acquisition unit 25 acquires the traveling posture information of the tilted vehicle 100 based on the output of the traveling state detection device 12 .

[0060] (Go to step-1a)

[0061] Next, in step S102 , the first execution unit 23 determines whether the traveling posture information acquired in step S101 indicates that the tilted vehicle 100 has tilted more than a reference level, and if so, the process proceeds to step S106 , and if not, the process proceeds to step S103 .

[0062] (Get Step-2)

[0063] In step S103 , the first acquisition unit 21 acquires information of another vehicle 200 traveling diagonally behind the tilted vehicle 100 as a first object T1 located to the side of the travel line DL of the tilted vehicle 100 based on the output of the surrounding environment detection device 11 a .

[0064] (Go to step-1b)

[0065] Next, in step S104, the first execution unit 23 uses the information of the other vehicle 200 obtained in step S103 to determine whether the possibility of collision between the tilted vehicle 100 and the other vehicle 200 exceeds a reference, and proceeds to step S105 if the determination result is yes, and proceeds to step S106 if the determination result is no.

[0066] (Go to step-1c)

[0067] In step S105 , the first execution unit 23 executes a first rider assisting operation for assisting the rider in driving the tilting vehicle 100 .

[0068] (Get Step-3)

[0069] In step S106 , the second acquisition unit 22 acquires information of another vehicle 300 traveling behind the tilted vehicle 100 as a second object T2 located on the travel line DL of the tilted vehicle 100 based on the output of the surrounding environment detection device 11 a .

[0070] (Go to step 2a)

[0071] Next, in step S107, the second execution unit 24 uses the information of the other vehicle 300 obtained in step S106 to determine whether the possibility of collision between the tilted vehicle 100 and the other vehicle 300 exceeds a reference, and proceeds to step S108 if the determination result is yes, and returns to step S101 if the determination result is no.

[0072] (Go to step 2b)

[0073] In step S108 , the second execution unit 24 executes a second rider assisting operation for assisting the rider in driving the tilting vehicle 100 .

[0074] In addition, the criteria for determination in step S102 when the determination result of the previous step S102 is yes and the criteria for determination in step S102 when the determination result of the previous step S102 is no may be different from each other. In addition, when the determination result of step S102 is yes, steps S103 to S105 may be forcibly skipped regardless of the determination result of step S102 until a predetermined period has passed.

[0075] <Modification>

[0076] The embodiments of the present invention are not limited to the above description. That is, the present invention includes a modified form relative to the above-described embodiments.

[0077] For example, the above description describes a case where the surrounding environment detection device 11a faces the rear on the line of travel DL of the tilted vehicle 100, but the surrounding environment detection device 11a may also face the front on the line of travel DL of the tilted vehicle 100. That is, the first rider auxiliary action may assist the tilted vehicle 100 in avoiding a collision with the first object T1 (for example, other vehicles, people, animals, road equipment, etc.) located obliquely in front of the tilted vehicle 100, and the second rider auxiliary action may assist the tilted vehicle 100 in avoiding a collision with the second object T2 (for example, other vehicles, people, animals, road equipment, etc.) located in front of the tilted vehicle 100. Even in such a case, the capture of the second object T2 in a state where a large tilt occurs at the tilted vehicle 100 is not as difficult as the capture of the first object T1, so the same control is effective. In addition, the surrounding environment detection device 11a may be installed at a position that does not rotate with the handlebar of the tilted vehicle 100, and may also be installed at a position that rotates with the handlebar of the tilted vehicle 100. Even when the surrounding environment detection device 11 a is mounted at a position that rotates together with the handlebars of the leaning vehicle 100 , when the leaning vehicle 100 is greatly tilted, capturing the second object T2 is not as difficult as capturing the first object T1 .

[0078] Figure 6 It is a diagram showing a state where the rider assistance system according to the embodiment of the present invention is mounted on a leaning vehicle. Figure 7 It is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention. Figure 8 It is a diagram showing a detection state of a surrounding environment detection device of the rider assistance system according to the embodiment of the present invention.

[0079] In addition, for example, the above description describes a case where the information of the first object T1 and the information of the second object T2 are obtained based on the output of the common surrounding environment detection device 11a. Figure 6~Figure 8As shown, the information of the first object T1 can also be obtained based on the output of the first surrounding environment detection device 11b having the first detection range Rb, and the information of the second object T2 can also be obtained based on the output of the second surrounding environment detection device 11c having the second detection range Rc. The first detection range Rb of the first surrounding environment detection device 11b is oriented obliquely to the rear, obliquely to the front, or directly to the side of the tilted vehicle 100. The second detection range Rc of the second surrounding environment detection device 11c is oriented to the rear or front of the tilted vehicle 100. The central axis of the detection range Ra of the second surrounding environment detection device 11c is consistent with the front-to-rear direction of the body of the tilted vehicle 100. The central axis of the first detection range Rb of the first surrounding environment detection device 11b or the central axis of the second detection range Rc of the second surrounding environment detection device 11c can also be upward or downward relative to the road surface. In addition, the first surrounding environment detection device 11b can be fixed in both the size and the direction of the first detection range Rb, and at least one of the size and the direction can be changed. In addition, the second surrounding environment detection device 11c may be such that both the size and orientation of the second detection range Rc are fixed, and at least one of the size and orientation may be changed. In addition, the first detection range Rb and the second detection range Rc may be completely separated, and may partially overlap. In addition, when the first rider assistance action is prohibited, the first surrounding environment detection device 11b may be deactivated or the output of the first surrounding environment detection device 11b may be invalidated. In addition, the operation of the first surrounding environment detection device 11b may continue, and the information of the first object T1 other than other vehicles 200 outputted from the first surrounding environment detection device 11b or the information of other vehicles 200 may be auxiliaryly used for the second rider assistance action, or another rider assistance action different from the first rider assistance action and the second rider assistance action.

[0080] In addition, for example, the above description describes a case where the first rider assisting action and the second rider assisting action are intended to assist in avoiding a collision with the tilted vehicle 100, but at least one of the first rider assisting action and the second rider assisting action may be intended to assist in a different manner from avoiding a collision with the tilted vehicle 100. For example, the first rider assisting action may be intended to notify the rider of a congested condition in the lane L2 adjacent to the lane L1 in which the tilted vehicle 100 is traveling, or to notify the rider of a model of the other vehicle 200. In addition, the second rider assisting action may be intended to notify the rider of a congested condition in the lane L1 in which the tilted vehicle 100 is traveling, or to notify the rider of a model of the other vehicle 300.

[0081] Description of Reference Numerals

[0082] 1 rider assistance system, 11a, 11b, 11c surrounding environment detection device, 12 travel state detection device, 20 control device, 21 first acquisition unit, 22 second acquisition unit, 23 first execution unit, 24 second execution unit, 25 third acquisition unit, 30 warning device, 40 behavior control device, 50 indicator light device, 100 tilted vehicle, 200, 300 other vehicles, T1 first object, T2 second object, DL travel line, L1, L2 lane, Ra, Rb, Rc detection range.

Claims

1. A control device (20), being a control device (20) of a rider assistance system (1), wherein the rider assistance system (1) is mounted on a tilting vehicle (100), and the rider assistance system (1) comprises at least one surrounding environment detection device (11a, 11b, 11c) for outputting surrounding environment information of the tilting vehicle (100), wherein the control device (20) is characterized in that: The method comprises a first acquisition unit (21) and a first execution unit (23), The first acquisition unit (21) acquires first object information based on the surrounding environment information, wherein the first object information is information of a first object (T1) located on the side of the travel line (DL) of the tilted vehicle (100). The first execution unit (23) causes the rider assistance system (1) to start a first rider assistance action corresponding to the first object information acquired by the first acquisition unit (21), wherein the first rider assistance action assists the rider of the tilting vehicle (100) in driving. The control device (20) further comprises a second acquisition unit (22), a second execution unit (24), and a third acquisition unit (25). The second acquisition unit (22) acquires second object information based on the surrounding environment information, wherein the second object information is information of a second object (T2) located on the travel line (DL) of the tilted vehicle (100). The second execution unit (24) causes the rider assistance system (1) to start a second rider assistance action corresponding to the second object information acquired by the second acquisition unit (22), wherein the second rider assistance action assists the rider in driving. The third acquisition unit (25) acquires traveling posture information, wherein the traveling posture information is information indicating the traveling posture of the tilted vehicle (100). The first object (T1) is another vehicle (200) traveling obliquely behind the tilted vehicle (100). The second object (T2) is another vehicle (300) traveling behind the tilted vehicle (100). When the aforementioned traveling posture information obtained by the aforementioned third acquisition unit (25) is information indicating that no tilt exceeding the aforementioned benchmark has occurred at the aforementioned tilted vehicle (100), the aforementioned first execution unit (23) is allowed to start the aforementioned first rider assistance action, and the aforementioned second execution unit (24) is allowed to start the aforementioned second rider assistance action. When the aforementioned traveling posture information obtained by the aforementioned third acquisition unit (25) is information indicating that a tilt exceeding the aforementioned benchmark has occurred at the aforementioned tilted vehicle (100), the aforementioned first execution unit (23) is prohibited from starting the aforementioned first rider assistance action, and the aforementioned second execution unit (24) is allowed to start the aforementioned second rider assistance action.

2. The control device (20) according to claim 1, characterized in that The first rider assisting action includes a warning action to the rider.

3. The control device (20) according to claim 1 or 2, characterized in that: The first rider assisting action includes the movement control action of the tilting vehicle (100).

4. The control device (20) according to claim 1 or 2, characterized in that: The second rider assisting action includes a warning action to the rider.

5. The control device (20) according to claim 1 or 2, characterized in that: The second rider assisting action includes the movement control action of the tilting vehicle (100).

6. The control device (20) according to claim 1 or 2, characterized in that: The first rider assistance action includes a warning action to the driver of the other vehicle (200) traveling obliquely behind the tilted vehicle (100).

7. The control device (20) according to claim 1 or 2, characterized in that: The first rider assisting action includes a movement control action of the other vehicle (200) traveling obliquely behind the tilted vehicle (100).

8. The control device (20) according to claim 1 or 2, characterized in that: The second rider assisting action includes a warning action to the driver of the other vehicle (300) traveling behind the tilted vehicle (100).

9. The control device (20) according to claim 1 or 2, characterized in that: The second rider assisting action includes a movement control action of the other vehicle (300) traveling behind the tilted vehicle (100).

10. The control device (20) according to claim 1 or 2, characterized in that: The first object information and the second object information are acquired based on the output of the common surrounding environment detection device (11a) mounted on the tilting vehicle (100).

11. The control device (20) according to claim 1 or 2, characterized in that: The first object information is obtained based on the output of a first surrounding environment detection device (11b), wherein the first surrounding environment detection device (11b) is the surrounding environment detection device having a first detection range (Rb). The second object information is obtained based on the output of a second surrounding environment detection device (11c), and the second surrounding environment detection device (11c) is the surrounding environment detection device having a second detection range (Rc) different from the first detection range (Rb).

12. A rider assistance system (1), characterized in that: A control device (20) according to claim 1 or 2.

13. A control method, a control method of a rider assistance system (1), wherein the rider assistance system (1) is mounted on a tilting vehicle (100), and the rider assistance system (1) includes at least one surrounding environment detection device (11a, 11b, 11c) for outputting surrounding environment information of the tilting vehicle (100), wherein the control method is characterized in that: The method comprises a first acquisition step (S103) and a first execution step (S104, S105), In the first acquisition step (S103), a first acquisition unit (21) of a control device (20) acquires first object information based on the surrounding environment information, wherein the first object information is information of a first object (T1) located on the side of a travel line (DL) of the tilted vehicle (100). In the first execution step (S104, S105), the first execution unit (23) of the control device (20) causes the rider assistance system (1) to start a first rider assistance action corresponding to the first object information obtained in the first acquisition step (S103), wherein the first rider assistance action assists the rider of the tilting vehicle (100) in driving. The control method further comprises a second acquisition step (S106), a second execution step (S107, S108), and a third acquisition step (S101). In the second acquisition step (S106), the second acquisition unit (22) of the control device (20) acquires second object information based on the surrounding environment information, wherein the second object information is information of a second object (T2) located on the travel line (DL) of the tilting vehicle (100). In the second execution step (S107, S108), the second execution unit (24) of the control device (20) causes the rider assistance system (1) to start a second rider assistance action corresponding to the second object information obtained in the second acquisition step (S106), wherein the second rider assistance action assists the rider in driving. In the third acquisition step (S101), the third acquisition unit (25) of the control device (20) acquires traveling posture information, wherein the traveling posture information is information indicating the traveling posture of the tilting vehicle (100). The first object (T1) is another vehicle (200) traveling obliquely behind the tilted vehicle (100). The second object (T2) is another vehicle (300) traveling behind the tilted vehicle (100). When the traveling posture information acquired by the third acquisition unit (25) indicates that the tilted vehicle (100) does not tilt beyond a reference, the first execution unit (23) is allowed to start the first rider assistance action, and the second execution unit (24) is allowed to start the second rider assistance action. When the traveling posture information obtained in the third acquisition step (S101) indicates that a tilt exceeding the reference level has occurred at the tilted vehicle (100), the first execution unit (23) is prohibited from starting the first rider assistance action, and the second execution unit (24) is allowed to start the second rider assistance action.

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