Motorcycle driving assistance system

Abstract

The problem to be solved by the present invention is to provide a driving assistance system for a motorcycle that can reduce the burden on the rider when backing out of a parking space. In order to solve the above problem, the driving assistance system (1) of the present invention includes: a driving force output device (82) that generates a reverse output for reversing the driving wheel and backing up the vehicle body; a brake lever (810) that can be held and operated by the rider; an ACC main switch (43) and an ACC shift lever (44) that can be operated by the rider; and a reverse backing out auxiliary control unit (64) that controls the driving force output device (82) based on the operation of the brake lever (810) and the ACC main switch (43) and the ACC shift lever (44). The reverse backing out auxiliary control unit (64) generates a reverse output by the driving force output device (82) upon receiving an operation of tilting the ACC shift lever (44) toward the "SET / -" side, and then continues to generate the reverse output until the brake lever (810) is operated or the ACC main switch (43) and the ACC shift lever (44) are disconnected.

Description

Technical Field

[0001] The present invention relates to a driving assistance system for a motorcycle, and more particularly to a driving assistance system for a motorcycle having a reverse function for reversing the wheels to thereby reverse the vehicle body. Background Art

[0002] Unlike four-wheeled vehicles, motorcycles are often parked in a forward parking position, with the front of the vehicle facing the back of the parking space. When this forward parking is performed, the rider needs to support the vehicle and move it backwards by his own strength when exiting the parking space.

[0003] The difficulty of unloading a motorcycle like this is particularly pronounced with larger vehicles. Therefore, some large motorcycles are equipped with a reverse function that utilizes the driving force generated by a power source mounted on the vehicle body to reverse the drive wheels, thereby moving the vehicle body backward. For example, Patent Document 1 describes an invention that utilizes a cell motor used to power the engine to move the vehicle body backward. With this reverse function, a motorcycle can be reversed simply by operating a switch located at the base of the handlebars, making it particularly convenient when unloading a motorcycle.

[0004] [Prior Art Literature]

[0005] (Patent Document)

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 62-221927 Summary of the Invention

[0007] [Problems to be solved by the invention]

[0008] However, in the invention disclosed in Patent Document 1, the battery motor must be continuously powered to continuously reverse the vehicle. Therefore, the rider must continuously press a switch located at the base of the handlebar. When leaving the vehicle, the rider must pay attention to the rear while maintaining a firm grip on the handlebar to prevent the vehicle from tipping over. Furthermore, if other motorcycles are parked to the left or right of the vehicle, the rider must pay attention not only to the rear of the vehicle but also to the left and right sides. Thus, when leaving the vehicle, the rider must pay attention to the rear and left and right sides of the vehicle while maintaining a firm grip on the handlebar to prevent the vehicle from tipping over. This burdensome operation is placed on the rider.

[0009] An object of the present invention is to provide a driving assistance system for a motorcycle that can reduce the burden on the rider when backing out of a parking space.

[0010] [Technical means to solve the problem]

[0011] (1) The driving assistance system for a motorcycle of the present invention (e.g., the driving assistance system 1 described later) is characterized in that it includes: a wheel drive device (e.g., the driving force output device 82 described later) that generates a forward output for rotating the wheels and moving the vehicle body forward, or a reverse output for reversing the wheels and moving the vehicle body backward; a brake lever (e.g., the brake lever 810 described later) that can be gripped and operated by a rider; a control switch (e.g., the adaptive cruise control (ACC) main switch 43 and the ACC lever 44 described later) that can be operated by the rider; and a reverse assist control unit (e.g., the reverse parking assist control unit 64 described later) that controls the wheel drive device based on the operation of the brake lever and the control switch; and the reverse assist control unit, after causing the wheel drive device to generate the reverse output in response to the control switch being turned on, continues to generate the reverse output until the brake lever is operated or the control switch is turned off.

[0012] (2) At this time, it is preferred that the aforementioned driving assistance system also includes a rear sensor (for example, the rear radar unit 23 described later), which detects objects behind the aforementioned vehicle body. When the aforementioned rear sensor detects an object close to the aforementioned vehicle body while the aforementioned vehicle body is being moved backward, the aforementioned reverse assist control unit stops the aforementioned reverse output.

[0013] (3) In this case, it is preferred that the driving assistance system further includes an alarm device (for example, the alarm device 40 described later), which issues an alarm to the rider, and when the rear sensor detects an object close to the vehicle body while the vehicle body is moving backward, the backward assist control unit activates the alarm issued by the alarm device to stop the backward output.

[0014] (4) In this case, it is preferred that the aforementioned driving assistance system further includes a reverse distance measuring unit (for example, a reverse distance sensor described later), which measures the reverse distance of the aforementioned vehicle body, and when the aforementioned reverse distance reaches a specified distance after the aforementioned vehicle body starts to reverse, the aforementioned reverse assistance control unit stops the aforementioned reverse output.

[0015] (5) In this case, it is preferable that the reverse assist control unit stops the reverse output when the vehicle body is stopped by operating the brake lever for a predetermined time or longer after the reverse output is generated.

[0016] (Effects of the Invention)

[0017] (1) The driving assistance system of a motorcycle of the present invention includes: a wheel drive device that generates a reverse output for reversing the wheels and moving the vehicle body backward; a brake lever that can be held and operated by the rider; a control switch that can be operated by the rider; and a reverse assist control unit that controls the wheel drive device based on the operation of the brake lever and the control switch. The reverse assist control unit, when the control switch is turned on, causes the vehicle drive device to generate a reverse output, thereby starting the reverse movement of the vehicle body. In addition, after generating the reverse output, the reverse assist control unit continues to generate the reverse output until the brake lever is operated or the control switch is turned off. Therefore, when the rider is backing out of the parking space, he or she only needs to turn on the control switch at the beginning to cause the vehicle body to continue to back out, without having to continue turning on the control switch. Therefore, according to the present invention, the rider can pay attention to the rear and left and right sides of the vehicle while holding the handle to prevent the vehicle body from tipping over, and concentrate on maintaining balance to prevent the vehicle body from falling, thereby reducing the burden on the rider when backing out of the parking space. Furthermore, according to the present invention, by reducing the burden on the rider when backing out of a garage, contact with other vehicles and overturning of the vehicle can be suppressed, thereby improving traffic safety.

[0018] (2) In the present invention, when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed, the reverse assist control unit stops the reverse output. Thus, according to the present invention, when another vehicle approaches the vehicle body while the vehicle body is being reversed, the vehicle automatically stops, thereby preventing contact with the other vehicle and improving traffic safety.

[0019] (3) In the present invention, when the rear sensor detects an object approaching the vehicle body while the vehicle body is moving backward, the reverse assist control unit activates an alarm issued by the alarm device, thereby stopping the reverse output. Thus, according to the present invention, the rider can quickly understand that the reason for the automatic stop of the vehicle body's reverse movement is the approach of another vehicle, and can immediately resume the reverse movement of the vehicle body after confirming that the other vehicle has passed.

[0020] (4) The size of parking spaces and the width of passages adjacent to parking spaces are generally the same in every country. Therefore, when the vehicle is pulled out of the parking space, the required backward distance is generally the same. Therefore, in the present invention, when the backward distance reaches the specified distance after the vehicle body starts to move backward, the backward auxiliary control unit stops the backward output. Thus, according to the present invention, when the rider starts to move the vehicle body backward by turning on the control switch, when the backward distance reaches the specified distance, the vehicle body automatically stops even if the brake lever and the control switch are not operated, so the burden on the rider when pulling out of the parking space can be further reduced, thereby further improving traffic safety.

[0021] (5) In the present invention, if the vehicle body is stopped by operating the brake lever for a predetermined time or longer after the reverse output is generated, the reverse assist control unit stops the reverse output. Thus, according to the present invention, even if the reverse speed temporarily becomes zero while the rider is operating the brake lever to adjust the reverse speed while moving the vehicle body backward, the reverse output is not immediately stopped, thereby improving convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram schematically showing the structure of a driving assistance system according to one embodiment of the present invention.

[0023] Figure 2 This is a flowchart (part 1) illustrating a specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0024] Figure 3 This is a flowchart (part 2) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0025] Figure 4 This is a flowchart (part 3) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0026] Figure 5 This is a flowchart (part 4) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0027] Figure 6 This is a flowchart (part 5) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0028] Figure 7 This is a flowchart (part six) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0029] Figure 8 This is a flowchart (part seven) illustrating the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit.

[0030] Figure 9 This is a diagram showing an example of a function-on image indicating that the back-exit library assist function is on. DETAILED DESCRIPTION

[0031] Hereinafter, the structure of a driving assistance system according to an embodiment of the present invention will be described with reference to the drawings.

[0032] Figure 1This figure illustrates the structure of a driving assistance system 1 according to this embodiment. The driving assistance system 1 is mounted on a motorcycle (not shown). The drive source for rotating the drive wheel (rear wheel) of the motorcycle can be an internal combustion engine, a rotary electric machine, or a combination thereof. The power source for the rotary electric machine can be a secondary battery, a capacitor, or a fuel cell. While the following description focuses on the case where an internal combustion engine is used as the drive source, the present invention is not limited thereto.

[0033] A driving assistance system 1 assists the rider in safely driving a motorcycle. The following describes various driving assistance functions implemented by the driving assistance system 1: the ACC function, which automatically controls at least one of the distance to the preceding vehicle and the vehicle speed of the host vehicle (hereinafter referred to as "host vehicle speed") to track the preceding vehicle; and the rear parking assistance function, which assists the rider in rearward parking from a parking space.

[0034] The driving assistance system 1 includes an external sensor unit 2, a vehicle sensor unit 3, a human-machine interface 4 (hereinafter referred to as "HMI 4"), a navigation device 5, a driving assistance control device 6, a driving operating element 81, a driving force output device 82, and a braking device 83. These devices are interconnected via multiplexed communication lines such as a Controller Area Network (CAN) communication line, serial communication lines, or a wireless communication network.

[0035] The external sensor unit 2 is composed of a camera unit 21 , a front radar unit 22 , a rear radar unit 23 , an external recognition device 24 , and the like.

[0036] The camera unit 21 has, for example, a digital camera that utilizes a solid-state imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera unit 21 is installed at any position on the front of the vehicle body (e.g., a front windshield or a rearview mirror) in a state facing the front side of the vehicle. The front radar unit 22 and the rear radar unit 23 have millimeter wave radars that detect objects by measuring the reflected waves from the object in response to millimeter wave irradiation. The front radar unit 22 is installed at any position on the front of the vehicle body (e.g., a front windshield or a rearview mirror) in a state facing the front side of the vehicle, and detects objects in front of the vehicle body. The rear radar unit 23 is installed at any position on the rear of the vehicle body (e.g., near the taillights and near the left and right direction indicators) in a state facing the rear side of the vehicle, and detects objects behind the vehicle body and on the left and right sides.

[0037] The external recognition device 24 is a computer that performs sensor fusion processing on some or all of the detection results obtained by the camera unit 21, the front radar unit 22, and the rear radar unit 23 to obtain information related to the state in front of the vehicle, more specifically, information such as the position, shape, type, and speed of the road or objects in front of the vehicle, and the content of road signs (hereinafter collectively referred to as "front information"), and information related to objects behind the vehicle (hereinafter also referred to as "rear information"). The external recognition device 24 transmits the obtained front information and rear information to, for example, the driving assistance control device 6.

[0038] The vehicle sensor unit 3 includes an encoder that generates pulse signals at intervals corresponding to the wheel rotation speed; a vehicle speed sensor that detects the vehicle's speed by counting the pulses output from the encoder during forward wheel rotation; a reverse distance sensor that measures reverse distance by counting the pulses output from the encoder during reverse wheel rotation; and a five-axis or six-axis inertial measurement unit. The inertial measurement unit detects the angles, angular velocities, and accelerations of three axes within the vehicle's body (roll, pitch, and yaw). The detection signals from the vehicle sensor unit 3 are transmitted, for example, to the driving assistance control device 6.

[0039] The HMI 4 is composed of a plurality of interfaces for presenting various information to the occupants of the vehicle or receiving input operations performed by the occupants. Figure 1 4 , only the alarm device 40 , the display 41 , the ACC function indicator light 42 , the ACC main switch 43 and the ACC lever 44 , which are particularly related to the ACC function and the rear exit assist function, are shown.

[0040] The warning device 40 issues a warning to the rider in a manner that the rider can perceive based on a command from the driving assistance control device 6. More specifically, as the warning device 40, for example, a speaker that emits a warning sound can be used.

[0041] The display 41 is provided at a position visible to the rider while driving and displays images in accordance with commands from a display control unit 65, described later, of the driving assistance control device 6. Information related to the ACC function, described later, and information related to the rear parking assistance function are displayed on the display 41.

[0042] The ACC main switch 43 and the ACC lever 44 have different functions when the gear position of the driving force output device 82 is "D (drive gear)" (i.e., the state in which forward movement is possible) and when the gear position is "N (neutral gear)" or "R (reverse gear)" (i.e., the state in which forward movement is impossible).

[0043] The ACC main switch 43 is pressed by the rider when switching on / off the ACC function of the driving assistance control device 6 at least when the gear position is "D". The ACC main switch 43 is provided at the base of the accelerator grip, for example.

[0044] In addition, when the gear position of the ACC main switch 43 is at least "N" or "R", more specifically, when the auxiliary acceptance condition (see Figure 2 When step ST1) is established, the rider presses the key when switching the on / off of the rear exit garage assist function under the driving assist control device 6.

[0045] The ACC lever 44 is tilted by the rider to change the set speed of the ACC function or to switch the ACC function from the standby mode to the active mode, at least when the gear position is "D." The ACC lever 44 can be tilted from the neutral position to either the "RES / +" side or the "SET / -" side. The ACC lever 44 is located, for example, at the base of the accelerator handle.

[0046] More specifically, if the rider tilts the ACC lever 44 toward the "SET / -" position while the ACC function is in the standby state in the driving assistance control device 6, the ACC function is switched to the ON state, and the vehicle speed at that time is set as the set speed. Furthermore, if the rider tilts the ACC lever 44 toward the "RES / +" position while the ACC function is in the standby state in the driving assistance control device 6, the value stored in the memory (not shown) (the set speed when the ACC function was previously in the ON state) is set as the set speed, and the ACC function is switched to the ON state.

[0047] Furthermore, if the ACC function of the driving assistance control device 6 is on and the vehicle speed is above a predetermined speed, and the rider tilts the ACC lever 44 toward the "RES / +" position, the set vehicle speed increases by a predetermined unit speed (e.g., 1 km / h). Furthermore, if the ACC function of the driving assistance control device 6 is on and the vehicle speed is above a predetermined speed, and the rider tilts the ACC lever 44 toward the "SET / -" position, the set vehicle speed decreases by a predetermined unit speed.

[0048] In addition, when the ACC lever 44 is at least in the gear position "N" or "R", more specifically, under the assistance acceptance condition described later (see Figure 2 When step ST1) is established, the rider performs a dumping operation when starting the reverse movement of the vehicle body based on the rear exit garage assist function or temporarily stopping the reverse movement of the vehicle body.

[0049] More specifically, when the reverse parking assist function is on in the driving assistance control device 6, if the rider tilts the ACC lever 44 toward the "SET / -" position, a reverse output is generated, and the vehicle body begins to move backward. Furthermore, if the rider tilts the ACC lever 44 toward the "RES / +" position while the reverse output is being generated, the reverse output is temporarily stopped, and the vehicle body stops.

[0050] As described above, in this embodiment, the ACC function used when moving the vehicle forward and the reverse parking assist function used when moving the vehicle backward are not used simultaneously, so the ACC main switch 43 and the ACC lever 44 are shared by the ACC function and the reverse parking assist function.

[0051] The ACC function display light 42 can be lit in a plurality of forms, such as red, green and white. The ACC function display light 42 is provided at a position where the rider can visually confirm the light. When the ACC function is on and the automatic vehicle distance control described later is being executed, the ACC function display light is lit in red. When the ACC function is on and the automatic vehicle speed control described later is being executed, the ACC function display light is lit in green. In addition, when the ACC function is in the standby state, the ACC function display light is lit in white. In addition, when the ACC function is off, the ACC function display light is off. Therefore, when the rider performs the on-operation on the ACC main switch 43, the ACC function display light is lit in any one of red, green and white. In addition, when the rider performs the off-operation on the ACC main switch 43, the ACC function display light is off.

[0052] The navigation device 5 includes, for example, a Global Navigation Satellite System (GNSS) receiver that determines the vehicle's current location based on signals received from GNSS satellites, and a storage device that stores map information. The map information also includes information related to road signs. The navigation device 5 transmits information related to the vehicle's current location, along with the map information for the current location, to the driving assistance control device 6.

[0053] The driving operation member 81 is composed of a plurality of operating members operated by the rider when driving the vehicle, and sensors etc. which detect the amount of operation of these operating members. Figure 1 Among these multiple operating parts and sensors, the ones illustrated are, in particular, the brake lever 810, brake lever switch 811, hydraulic sensor 812, brake pedal switch 813, bracket switch 814, main switch 815, starter switch 816, shift switch 817 and parking brake switch 818 which are associated with the ACC function and the rear parking assist function.

[0054] The brake lever 810 can be operated by the rider's right hand to brake the front wheel via the brake device 83. The brake lever switch 811 is a sensor that detects whether the rider has turned the brake lever 810 on or off, that is, whether the rider is holding the brake lever 810. The brake lever switch 811 transmits a signal corresponding to the on / off operation of the brake lever 810 to the driving assistance control device 6. The hydraulic pressure sensor 812 is a sensor that detects the hydraulic pressure in the hydraulic circuit of the brake device 83. A signal corresponding to the detection value of the hydraulic pressure sensor 812 is transmitted to the driving assistance control device 6. Therefore, the amount of operation of the brake lever 810 by the rider is calculated based on the detection value obtained by the hydraulic pressure sensor 812 through processing in the driving assistance control device 6 (not shown).

[0055] The brake pedal switch 813 is a sensor that detects the on / off operation of a brake pedal (not shown) that can be depressed by the rider's right foot to brake the rear wheel via the brake device 83. The brake pedal switch 813 transmits a signal corresponding to the on / off operation of the brake pedal to the driving assistance control device 6.

[0056] The stand switch 814 is a sensor that detects the state of a stand (side stand and / or main stand) (not shown) for making the motorcycle self-supporting. The stand switch 814 sends a signal corresponding to the state of the stand to the driving assistance control device 6.

[0057] The main switch 815 is a sensor that can be operated by the rider to start / stop the driving assistance system 1. The main switch 815 transmits a signal corresponding to the start / stop operation performed by the rider to the driving assistance control device 6.

[0058] The starter switch 816 is a sensor that can be operated by the rider to start / stop the engine of the driving force output device 82. The starter switch 816 transmits a signal corresponding to the start / stop operation performed by the rider to the driving assistance control device 6.

[0059] The shift switch 817 is a switch that the rider can operate to switch the gear position of the driving force output device 82 between "N (Neutral)" and "D (Drive)". The shift switch 817 sends a signal corresponding to the gear switching operation performed by the rider to the driving assistance control device 6.

[0060] The parking brake switch 818 is a sensor that detects the state of a parking brake lever, which can be operated by the rider to apply or release the parking brake applied by a parking brake device (not shown). The parking brake switch 818 sends a signal corresponding to the state of the parking brake to the driving assistance control device 6.

[0061] The driving force output device 82 includes an engine as a driving force generating source, a driving force transmission mechanism that changes the output of the engine and transmits it to the drive wheels, and an electronic control unit that controls these engines and the driving force transmission mechanism based on a signal sent from the driving assistance control device 6. In addition, in this embodiment, the case of using a dual-clutch transmission as the driving force transmission mechanism is described, but the present invention is not limited to this. In the driving force transmission mechanism, the gear position can be switched between at least three positions: a neutral position, a drive gear position, and a reverse gear position. When the gear position is the neutral position, the engine is disconnected from the drive wheels. When the gear position is the drive gear position, the driving force transmission mechanism transmits the output of the engine to the drive wheels as a forward output for moving the vehicle body forward, causing the drive wheels to rotate forward. In addition, when the gear position is the reverse gear position, the driving force transmission mechanism transmits the output of the engine to the drive wheels as a reverse output for moving the vehicle body backward, causing the drive wheels to rotate in the reverse direction.

[0062] The braking device 83 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper according to the amount of operation of the brake lever or brake pedal, an electric motor that causes the cylinder to generate hydraulic pressure, and an electronic control unit that controls the electric motor based on a command signal sent from the driving assistance control device 6 and generates a braking force corresponding to the command.

[0063] The driving assistance control device 6 is a computer responsible for controlling driving assistance functions. It includes an automatic driving control unit 61, an inter-vehicle distance setting unit 62, a vehicle speed setting unit 63, a rear parking assistance control unit 64, and a display control unit 65. These modules implement the ACC and rear parking assistance functions, among the multiple driving assistance functions.

[0064] When the ACC function is on, the automatic driving control unit 61 executes automatic speed control, which controls the vehicle speed based on a set speed set by a speed setting unit 63, described later, or automatic inter-vehicle distance control, which automatically controls the inter-vehicle distance to the preceding vehicle based on the set speed. The automatic speed control and automatic inter-vehicle distance control performed by the automatic driving control unit 61 are hereinafter collectively referred to as automatic driving control.

[0065] More specifically, when the ACC function is on, the automatic driving control unit 61 identifies a preceding vehicle traveling ahead of the host vehicle and meeting the following conditions determined based on the set vehicle speed as a following target vehicle based on forward information acquired by the external recognition device 24. The automatic driving control unit 61 automatically controls the inter-vehicle distance with respect to the following target vehicle, thereby following the following target vehicle. More specifically, when the ACC function is on and the following target vehicle can be identified based on the forward information, the automatic driving control unit 61 executes automatic inter-vehicle distance control. This automatic inter-vehicle distance control operates the driving force output device 82 and the braking device 83 so that the inter-vehicle distance with respect to the following target vehicle reaches a target inter-vehicle distance sequentially set by the inter-vehicle distance setting unit 63, described later, to follow the following target vehicle.

[0066] Furthermore, when the ACC function is on but the following vehicle cannot be identified based on the forward information acquired by the external recognition device 24, the automatic driving control unit 61 automatically controls the vehicle speed determined by the vehicle sensor unit 3. More specifically, when the ACC function is on and the following vehicle cannot be identified based on the forward information, the automatic driving control unit 61 executes automatic vehicle speed control, which operates the driving force output device 82 and the braking device 83 so that the vehicle speed reaches the set vehicle speed.

[0067] Here, the so-called situation where the vehicle to be followed cannot be identified based on the forward information includes not only the situation where there is no preceding vehicle in front of the host vehicle and within the range that can be identified by the external recognition device 24, but also the situation where there is a preceding vehicle in front of the host vehicle and within the range that can be identified by the external recognition device 24, but the preceding vehicle does not meet the following target conditions. In addition, in this embodiment, the so-called following target conditions include, for example, the inter-vehicle distance relative to the preceding vehicle is less than a specified set distance and the speed of the preceding vehicle is less than the set speed. In other words, even if there is a preceding vehicle within the range that can be identified by the external recognition device 24, if the preceding vehicle is more than the set distance away from the host vehicle and is traveling at a speed greater than the set speed, the automatic driving control unit 61 will not identify the preceding vehicle as the vehicle to be followed. Therefore, while the automatic inter-vehicle distance control is being executed to follow the following target vehicle, the speed of the host vehicle will not continuously exceed the set speed.

[0068] Furthermore, as described above, the automatic driving control unit 61 automatically controls the vehicle speed with the set speed as the target during automatic speed control. Therefore, the vehicle speed will not continuously exceed the set speed during automatic speed control. Consequently, the vehicle speed will not continuously exceed the set speed, nor will the vehicle speed automatically accelerate after exceeding the set speed, while the automatic driving control unit 61 is executing automatic speed control.

[0069] When the ACC function is on, the inter-vehicle distance setting unit 62 sets the target inter-vehicle distance for the automatic inter-vehicle distance control under the automatic driving control unit 61. More specifically, the inter-vehicle distance setting unit 62 sets the target inter-vehicle distance based on the forward information acquired by the external recognition device 24 and the detection results of the vehicle sensor unit 3. More specifically, the inter-vehicle distance setting unit 62 calculates the speed of the following vehicle and the actual inter-vehicle distance between the host vehicle and the following vehicle based on the forward information, and then sets the target inter-vehicle distance such that the faster the speed of the following vehicle, the longer the target inter-vehicle distance. The inter-vehicle distance setting unit 62 transmits information regarding the set target inter-vehicle distance to the automatic driving control unit 61.

[0070] When the ACC function is on, the vehicle speed setting unit 63 sets the vehicle speed set in the automatic driving control by the automatic driving control unit 61 and transmits information on the set vehicle speed set to the automatic driving control unit 61 or the display control unit 65 .

[0071] The speed setting unit 63 sets or changes the set vehicle speed based on the rider's operation of the HMI 4 (particularly the ACC lever 44). More specifically, when the speed setting unit 63 detects that the ACC lever 44 has been tilted toward the "SET / -" position while the ACC function is in standby mode, the vehicle speed at that time is set as the set vehicle speed. When the speed setting unit 63 detects that the ACC lever 44 has been tilted toward the "RES / +" position while the ACC function is in standby mode, the vehicle speed setting unit 63 sets the value stored in memory as the set vehicle speed. When the speed setting unit 63 detects that the ACC lever 44 has been tilted toward the "RES / +" position while the ACC function is on and the vehicle speed is above a predetermined speed, the vehicle speed setting unit 63 changes the set vehicle speed toward an increase by unit speed. Furthermore, when the speed setting unit 63 detects that the ACC lever 44 has been tilted toward the "SET / -" position while the ACC function is on and the vehicle speed is above a predetermined speed, the vehicle speed setting unit 63 changes the set vehicle speed toward a decrease by unit speed. Therefore, the rider can reset or change the set vehicle speed by operating the ACC lever 44 .

[0072] The display control unit 65 notifies the rider of information related to the traffic sign recognition (TSR) function and the ACC function by causing the display 41 to display information related to the ACC function under the automatic driving control unit 61, the inter-vehicle distance setting unit 62 and the vehicle speed setting unit 63, and information related to the rear parking assist function under the rear parking assist control unit 64.

[0073] The rear exit assist control unit 64 mainly performs rear exit assist control to assist the rider in rear exiting the garage. The rear exit assist control controls the driving force output device 83 based on the rider's operation of the ACC main switch 43, the ACC lever 44 and the brake lever 810.

[0074] Figures 2 to 8 This is a flowchart showing the specific procedure of the rear exit auxiliary control under the rear exit auxiliary control unit 64. Figure 2 The flowchart shown in FIG. 8 is repeatedly executed in a predetermined control cycle in the rear parking assist control unit 64 after the main switch 815 is turned on by the rider and the driving assistance system 1 is activated.

[0075] First, in step ST1, the rear parking assist control unit 64 determines whether predetermined assistance acceptance conditions are met. Here, the assistance acceptance conditions are conditions that must be met in order for the ACC main switch 43 and ACC lever 44 to begin functioning as control switches for the rear parking assist function. More specifically, the rear parking assist control unit 64 determines that the assistance acceptance conditions are met if all four conditions are met: the engine is on, the kickstand is stowed, the parking brake is released, and the gear position is "N" or "R." If any of these four conditions are not met, the rear parking assist control unit 64 determines that the assistance acceptance conditions are not met. If the result of the determination in step ST1 is NO, the process returns to step ST1; if the result is YES, the process proceeds to step ST2.

[0076] In step ST2, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST2 is NO, the rear exit assist control unit 64 returns to step ST1, and if YES, it proceeds to step ST3.

[0077] In step ST3, the rear exit assist control unit 64 causes the display 41 to display, for example, Figure 9 An instruction to display a function activation image such as that shown in FIG is sent to the display control unit 65, and the process moves to step ST11.

[0078] In step ST11, the rear exit storage auxiliary control unit 64 determines whether the auxiliary acceptance condition is satisfied. If the determination result in step ST11 is NO, the rear exit storage auxiliary control unit 64 proceeds to step ST13, and if YES, proceeds to step ST12.

[0079] In step ST12, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST12 is YES, the rear exit assist control unit 64 proceeds to step ST13, and if NO, proceeds to step ST14.

[0080] In step ST13 , the rear exit storage auxiliary control unit 64 sends an instruction to the display control unit 65 to erase the function on image displayed in step ST3 , and returns to step ST1 .

[0081] In step ST14, the rear exit assist control unit 64 determines whether the rider is holding the brake lever. If the determination result in step ST14 is NO, the rear exit assist control unit 64 proceeds to step ST15, and if YES, the process proceeds to step ST16.

[0082] In step ST15, the rear exit assist control unit 64 sends a command to the display control unit 65 to display a first message indicating the operation procedure on the display 41, and the process then returns to step ST11. Here, the first message is a message urging the rider to operate the brake lever. Specifically, for example, it may read, "Please hold the brake lever to start exit assist."

[0083] In step ST16, the rear exit assist control unit 64 sends a command to the driving force output device 82 to switch the gear position from "N" to "R," and the process then shifts to step ST17. In step ST17, the rear exit assist control unit 64 sends a command to the display control unit 65 to cause the display 41 to display the current gear position, i.e., "R," and the process then shifts to step ST18.

[0084] In step ST18, the rear exit assist control unit 64 sends a command to the display control unit 65 to display a second message indicating the operation procedure on the display 41, and the process then moves to step ST21. Here, the second message is a message prompting the rider to operate the ACC lever 44. Specifically, for example, it may read, "Press the ACC lever to 'SET / -' to start rear exiting."

[0085] In step ST21, the rear exit storage auxiliary control unit 64 determines whether the auxiliary acceptance condition is satisfied. If the determination result in step ST21 is YES, the rear exit storage auxiliary control unit 64 proceeds to step ST27, and if NO, proceeds to step ST22.

[0086] In step ST22, the rear exit assistance control unit 64 sends a command to the display control unit 65 to display a third message on the display 41, and the process then moves to step ST23. Here, the third message indicates the reason for canceling the rear exit assistance function. Specifically, for example, it may read, "Cancellation operation detected, thus ending exit assistance."

[0087] In step ST27, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST27 is YES, the rear exit assist control unit 64 proceeds to step ST26, and if NO, proceeds to step ST28.

[0088] In step ST26, the rear exit assistance control unit 64 sends a command to the display control unit 65 to display a fourth message on the display 41, and the process then moves to step ST23. Here, the fourth message indicates the reason for canceling the rear exit assistance function. Specifically, for example, it may read, "Because an OFF operation has been detected, exit assistance has been terminated."

[0089] In step ST23, the rear exit assist control unit 64 sends a command to the driving force output device 82 to switch the gear position from "R" to "N," and the process then transitions to step ST24. In step ST24, the rear exit assist control unit 64 sends a command to the display control unit 65 to display the current gear position, i.e., "N," on the display 41, and the process then transitions to step ST25. In step ST25, the rear exit assist control unit 64 sends a command to the display control unit 65 to clear the function activation image displayed in step ST13, and the process then returns to step ST1.

[0090] In step ST28, the rear exit assist control unit 64 determines whether the rider has turned on the control switch to initiate rearward movement of the vehicle body, that is, whether the rider has tilted the ACC lever 44 toward the "SET / -" position. If the result of the determination in step ST28 is NO, the rear exit assist control unit 64 returns to step ST21. If the result is YES, the process proceeds to step ST29.

[0091] In step ST29, the rear parking assist control unit 64, upon receiving the operation of tilting the ACC lever 44 toward the "SET / -" position in step ST28, causes the driving force output device 82 to generate a predetermined amount of rearward movement output, and then proceeds to step ST31. Thereafter, the rear parking assist control unit 64 causes the driving force output device 82 to continue generating the rearward movement output until the conditions described in ST41 to ST47, described below, are satisfied.

[0092] In step ST31, the rear exit assist control unit 64 sends a command to the display control unit 65 to display a fifth message on the display 41, prompting the rider to release the brake lever. The process then transitions to step ST32. Specifically, the fifth message is "Release the brake lever and move backward."

[0093] In step ST32, the rear exit auxiliary control unit 64 determines whether the auxiliary acceptance condition is satisfied. If the determination result in step ST32 is YES, the rear exit auxiliary control unit 64 proceeds to step ST33, and if NO, returns to step ST22.

[0094] In step ST33, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST33 is YES, the rear exit assist control unit 64 returns to step ST26, and if NO, the process proceeds to step ST34.

[0095] In step ST34, the rear exit assist control unit 64 determines whether the rider is holding the brake lever. If the determination result in step ST34 is YES, the rear exit assist control unit 64 returns to step ST31, and if NO, the rear exit assist control unit 64 proceeds to step ST35.

[0096] In step ST35, the reverse exit assist control unit 64 instructs the display control unit 65 to display a sixth message on the display 41, and the process then transitions to step ST41. This sixth message notifies the rider that the vehicle is moving backward. Specifically, the sixth message reads, "Reversing. Please be aware of your surroundings." The rider can then adjust the brake lever operation to increase or decrease the braking force and, consequently, the reverse speed.

[0097] In step ST41 , the rear exit storage auxiliary control unit 64 determines whether the auxiliary acceptance condition is satisfied. If the determination result in step ST41 is YES, the rear exit storage auxiliary control unit 64 proceeds to step ST42 , and if NO, returns to step ST22 .

[0098] In step ST42, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST42 is YES, the rear exit assist control unit 64 returns to step ST26, and if NO, the process proceeds to step ST43.

[0099] In step ST43, the rear parking assist control unit 64 determines whether the rear radar unit 23 has detected an object approaching the vehicle body from either the left or right side at the rear of the vehicle body. If the result of the rear parking assist control unit 64 in step ST43 is YES, the rear parking assist control unit 64 stops the reverse output to avoid contact and proceeds to step ST51. If the result of the rear parking assist control unit in step ST43 is NO, the process proceeds to step ST44.

[0100] In step ST44, the rear exit assist control unit 64 determines whether an operation to tilt the ACC lever 44 toward the "RES / +" position has been accepted. If the result of the rear exit assist control unit 64 in step ST44 is YES, the process proceeds to step ST71 to stop the reverse output based on the rider's intention. If the result of the rear exit assist control unit 64 in step ST44 is NO, the process proceeds to step ST45.

[0101] In step ST45, the rear exit assist control unit 64 determines whether the vehicle body has been stopped by continued operation of the brake lever for a predetermined time or longer. If the result of the rear exit assist control unit 64 in step ST45 is YES, the process proceeds to step ST81 to stop the reverse output based on the rider's intention. If the result of the rear exit assist control unit 64 in step ST45 is NO, the process proceeds to step ST46.

[0102] In step ST46, the rear parking assist control unit 64 determines whether an obstacle has been detected within a predetermined distance to the rear of the vehicle by the rear radar unit 23. If the result of the rear parking assist control unit 64 in step ST46 is YES, the process proceeds to step ST91 to stop the reverse output to avoid contact. If the result of the rear parking assist control unit 64 in step ST46 is NO, the process proceeds to step ST47.

[0103] In step ST47, the reverse parking assist control unit 64 determines whether the cumulative reverse distance measured by the reverse distance sensor of the vehicle sensor unit 3 has reached a predetermined distance (e.g., approximately one vehicle length). The cumulative reverse distance here refers to the cumulative value of the reverse distance measured by the reverse distance sensor from the time the reverse output was first generated in step ST29, initiating reverse movement of the vehicle body, to the present. If the reverse parking assist control unit 64 determines that the vehicle body has reversed the distance required to exit the parking space, it proceeds to step ST101 to stop the reverse output. If the result of the determination in step ST47 is YES, the reverse parking assist control unit 64 determines that the vehicle body has reversed the distance required to exit the parking space and stops the reverse output. The process then proceeds to step ST101. If the result of the determination in step ST47 is NO, the process proceeds to step ST41.

[0104] As described above, the rear exit assist control unit 64 receives the rider's operation of turning on the control switch to turn on the rear exit assist function (the operation of tilting the ACC lever 44 toward the "SET / -" side), and after generating a rear exit output (refer to step ST29), even if the rider does not maintain the control switch on operation, the rear exit output continues to be generated until the conditions shown in steps ST41 to ST47 are met.

[0105] In step ST51, the rear exit assist control unit 64 activates an alarm for the rider, and the process proceeds to step ST52. More specifically, the rear exit assist control unit 64 uses the alarm device 40 provided on the HMI 4 to sound an alarm, thereby notifying the rider of the presence of an object approaching the vehicle.

[0106] In step ST52, the rear exit assist control unit 64 stops the rearward motion of the driving force output device 82 and then proceeds to step ST53. In step ST53, the rear exit assist control unit 64 instructs the display control unit 65 to display a seventh message on the display 41, prompting the rider to operate the brake lever. Specifically, the seventh message reads, "An object approaching from the side has been detected. Please apply the brake lever."

[0107] In step ST54, the rear exit assist control unit 64 starts automatic braking control, which automatically generates braking force by operating the brake device 83, and then proceeds to step ST55. In step ST55, the rear exit assist control unit 64 determines whether the vehicle body has stopped. If the determination result in step ST55 is NO, the rear exit assist control unit 64 returns to step ST54; if the determination result in step ST55 is YES, the process proceeds to step ST56. In step ST56, the rear exit assist control unit 64 ends the automatic braking control started in step ST54 and proceeds to step ST57.

[0108] In step ST57 , the rear exit storage auxiliary control unit 64 determines whether the auxiliary acceptance condition is satisfied. If the determination result in step ST57 is YES, the rear exit storage auxiliary control unit 64 proceeds to step ST58 , and if NO, proceeds to step ST22 .

[0109] In step ST58, the rear exit assist control unit 64 determines whether the rider has operated the ACC main switch 43. If the determination result in step ST58 is YES, the rear exit assist control unit 64 returns to step ST26, and if NO, the process proceeds to step ST59.

[0110] In step ST59, the rear parking assist control unit 64 determines whether the rear radar unit 23 has detected an object approaching the vehicle body from either the left or right side at the rear of the vehicle body. If the result of the rear parking assist control unit 64's determination in step ST59 is YES, the process proceeds to step ST60; if the result is NO, the process proceeds to step ST61.

[0111] In step ST60, the rear exit assist control unit 64 instructs the display control unit 65 to display an eighth message on the display 41, notifying the rider that an approaching object has been detected. The process then returns to step ST57. In this specific example, the eighth message reads, "An object has been detected approaching the vehicle. Please check your surroundings. System is in standby mode."

[0112] In step ST61, the rear exit assist control unit 64 instructs the display control unit 65 to display a ninth message on the display 41, notifying the rider of the procedure for resuming rear exit. The ninth message specifically reads, "Resuming rear exit is possible. Please check your surroundings. Press the ACC lever to 'SET / -' to resume rear exit." The system then returns to step ST21.

[0113] In step ST71, the rear exit assist control unit 64 stops the rear exit output of the driving force output device 82 and then proceeds to step ST72. In step ST72, the rear exit assist control unit 64 instructs the display control unit 65 to display the tenth message on the display 41, notifying the rider of the restart of the rear exit. The tenth message specifically states, "ACC lever operation to 'RES / +' detected. Move the ACC lever to 'SET / -' to resume rear exit." The system then returns to step ST21.

[0114] In step ST81, the rear exit assist control unit 64 stops the rear exit output from the driving force output device 82 and then proceeds to step ST82. In step ST82, the rear exit assist control unit 64 instructs the display control unit 65 to display an eleventh message on the display 41, notifying the rider of the restart of the rear exit. The eleventh message specifically states, "Continued stop detected. Move the ACC lever to 'SET / -' to resume rear exit." The process then returns to step ST21.

[0115] In step ST91, the rear exit assist control unit 64 stops the reverse output of the driving force output device 82 and then proceeds to step ST92. In step ST92, the rear exit assist control unit 64 instructs the display control unit 65 to display a twelfth message on the display 41, notifying the rider of the reason for exiting the garage. Specifically, the twelfth message reads, "Approaching an obstacle behind. Please apply the brake lever. Exit assist function terminated."

[0116] In step ST93, the rear exit assist control unit 64 starts automatic braking control and the process proceeds to step ST94. In step ST94, the rear exit assist control unit 64 determines whether the vehicle body has stopped. If the determination result in step ST94 is NO, the process returns to step ST93. If the determination result in step ST94 is YES, the process proceeds to step ST95. In step ST95, the rear exit assist control unit 64 ends the automatic braking control started in step ST93 and the process proceeds to step ST96.

[0117] In step ST96, the rear exit assist control unit 64 sends a command to the driving force output device 82 to switch the gear position from "R" to "N," and the process then transitions to step ST97. In step ST97, the rear exit assist control unit 64 sends a command to the display control unit 65 to display the current gear position, i.e., "N," on the display 41, and the process then transitions to step ST98. In step ST98, the rear exit assist control unit 64 sends a command to the display control unit 65 to remove the function activation image displayed in step ST13, and the rear exit assist control process then terminates.

[0118] In step ST101, the rear exit assist control unit 64 stops the rearward movement of the driving force output device 82, and then proceeds to step ST102. In step ST102, the rear exit assist control unit 64 instructs the display control unit 65 to display a thirteenth message on the display 41, notifying the rider of the reason for exiting the vehicle. Specifically, the thirteenth message reads, "Maximum reverse assist distance reached. Please hold the brake lever. Exit assist function terminated."

[0119] According to the driving assistance system 1 of this embodiment, the following effects are achieved.

[0120] (1) A motorcycle driving assistance system 1 includes: a driving force output device 82 that generates a reverse output for reversing the drive wheels and moving the vehicle body backward; a brake lever 810 that can be gripped and operated by the rider; an ACC main switch 43 and an ACC lever 44 that can be operated by the rider; and a reverse parking assist control unit 64 that controls the driving force output device 82 based on the operation of the brake lever 810, the ACC main switch 43, and the ACC lever 44. The reverse parking assist control unit 64 generates a reverse output from the driving force output device 82 and initiates reverse parking of the vehicle body when the ACC main switch 43 is turned on and then the ACC lever 44 is tilted toward the "SET / -" position. Furthermore, after generating the reverse output, the reverse parking assist control unit 64 continues to generate the reverse output until the brake lever 810 is operated or the ACC main switch 43 or the ACC lever 44 is turned off. Therefore, when backing out of a parking space, the rider only needs to initially tilt the ACC lever 44 to the "SET / -" position to continue backing the vehicle, eliminating the need to continuously tilt the ACC lever 44 to the "SET / -" position. Consequently, the driving assistance system 1 allows the rider to maintain balance while paying attention to the rear and left and right sides of the vehicle, while maintaining control of the handlebars to prevent the vehicle from tipping over. This reduces the rider's burden when backing out of a parking space. Furthermore, by reducing the burden on the rider during backing out of a parking space, the driving assistance system 1 can also reduce contact with other vehicles and the vehicle's tipping over, thereby improving traffic safety.

[0121] (2) In the driving assistance system 1, when the rear radar unit 23 detects an object approaching the vehicle body while the vehicle body is reversing, the reverse parking assist control unit 64 stops the reverse output. Thus, according to the driving assistance system 1, when another vehicle approaches the vehicle body while the vehicle body is reversing, the system automatically stops, thereby preventing contact with the other vehicle and improving traffic safety.

[0122] (3) In the driving assistance system 1, when the rear radar unit 23 detects an object approaching the vehicle body while the vehicle body is being reversed, the reverse parking assist control unit 64 activates an alarm issued by the alarm device 40, thereby stopping the reverse output. Thus, according to the driving assistance system 1, the rider can quickly understand that the reason for the automatic stop of the vehicle body's reverse movement is the approach of another vehicle, and can immediately resume the reverse movement of the vehicle body after confirming that the other vehicle has passed.

[0123] (4) After the vehicle body starts to move backward, when the backward distance reaches a predetermined distance, the reverse parking assist control unit 64 stops the reverse output. Thus, according to the driving assistance system 1, when the rider starts to move the vehicle body backward by tilting the ACC lever 44 to the "SET / -" side, when the backward distance reaches a predetermined distance, the system automatically stops even if the brake lever 810, the ACC main switch 43, the ACC lever 44, etc. are not operated. This can further reduce the burden on the rider when backing out of a parking garage, thereby further improving traffic safety.

[0124] (5) After the reverse output is generated, if the vehicle body is stopped by operating the brake lever 810 for a predetermined time or longer, the reverse parking assist control unit 64 stops the reverse output. Thus, according to the driving assistance system 1, even if the reverse speed temporarily becomes zero while the rider is operating the brake lever 810 to adjust the reverse speed while moving the vehicle body backward, the reverse output is not immediately stopped, thereby improving convenience.

[0125] While one embodiment of the present invention has been described above, the present invention is not limited thereto and the detailed structure may be appropriately modified within the scope of the gist of the present invention.

[0126] Reference numerals

[0127] 1: Driving assistance system

[0128] 2: External sensor unit

[0129] 23: Rear radar unit 23 (rear sensor)

[0130] 3: Vehicle sensor unit (reverse distance measurement unit)

[0131] 4: HMI

[0132] 40: Alarm device

[0133] 41: Display

[0134] 43: ACC main switch (control switch)

[0135] 44: ACC lever (control switch)

[0136] 6: Driving assistance control device

[0137] 61: Automatic driving control unit

[0138] 64: Backward exit auxiliary control unit (backward exit auxiliary control unit)

[0139] 65: Display control unit

[0140] 81: Driving operating parts

[0141] 810: Brake lever

[0142] 811: Brake lever switch

[0143] 82: Driving force output device (wheel drive device)

[0144] 83: Braking device

Claims

1. A motorcycle driving assistance system, comprising: a wheel drive device for generating a forward output for rotating the wheels forward and moving the vehicle body forward, or a reverse output for rotating the wheels reversely and moving the vehicle body backward; A brake lever that the rider can hold and operate; a control switch that the aforementioned rider can operate; and, a reverse assist control unit that controls the wheel drive device based on operations of the brake lever and the control switch; and, The reverse assist control unit causes the wheel drive device to generate the reverse output when the control switch is turned on, and then continues to generate the reverse output until the brake lever is operated or the control switch is turned off.

2. The motorcycle driving assistance system according to claim 1, further comprising a rear sensor for detecting an object behind the vehicle body. The reverse assist control unit stops the reverse output when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed.

3. The motorcycle driving assistance system according to claim 2, further comprising an alarm device, which issues an alarm to the rider. When an object approaching the vehicle body is detected by the rear sensor while the vehicle body is being moved backward, the reverse assist control section activates an alarm issued by the alarm device to stop the reverse output.

4. The driving assistance system for a motorcycle according to any one of claims 1 to 3, further comprising a backward distance measuring unit for measuring a backward distance of the vehicle body. The reverse assist control unit stops the reverse output when the reverse distance reaches a predetermined distance after the vehicle body starts to reverse.

5. The driving assistance system for a motorcycle according to any one of claims 1 to 3, wherein: The reverse assist control unit stops the reverse output when the vehicle body is stopped by operating the brake lever for a predetermined time or longer after the reverse output is generated.

6. The driving assistance system for a motorcycle according to claim 4, wherein: The reverse assist control unit stops the reverse output when the vehicle body is stopped by operating the brake lever for a predetermined time or longer after the reverse output is generated.

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