Control device and control method

Abstract

The invention provides a control device and a control method capable of appropriately executing speed control based on positional relationship information between a tilted vehicle and a target vehicle. In a control device (20) and a control method according to the present invention, an execution unit of the control device (20) executes speed control for controlling the speed of a tilted vehicle (1) on the basis of positional relationship information between the tilted vehicle (1) and a target vehicle; a determination unit of a control device (20) executes a determination process for determining a target vehicle on the basis of a detection result of an ambient environment sensor (14) mounted on a tilted vehicle (1); the specifying unit varies the specifying process on the basis of speed information of the tilted vehicle (1).

Description

Technical Field

[0001] The present disclosure relates to a control device and a control method capable of appropriately performing speed control based on positional relationship information between a tilted vehicle and a target vehicle. Background Art

[0002] As a conventional technology related to a leaning vehicle such as a motorcycle, there is a technology for assisting a rider in driving. For example, Patent Document 1 discloses a rider assistance system that warns a rider of a motorcycle of inappropriately approaching an obstacle based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2009-116882 Summary of the invention

[0006] Problems to be solved by the invention

[0007] As a technology for assisting driving, there is speed control that controls the speed of a tilted vehicle based on positional relationship information between the tilted vehicle and a target vehicle. As such speed control, for example, adaptive cruise control can be cited. In adaptive cruise control, the speed of the tilted vehicle is controlled to ensure that the distance between the tilted vehicle and the target vehicle is a safe distance. The target vehicle is determined based on the detection results of a surrounding environment sensor mounted on the tilted vehicle, for example.

[0008] Here, the posture of a tilted vehicle is more likely to become unstable than that of a four-wheeled car. Specifically, a tilted vehicle cannot stand on its own when stopped, and is more likely to fall down if the speed of the tilted vehicle decreases. Therefore, when the tilted vehicle is traveling at a low speed, the rider may swing the handlebars left and right with a small pitch in order to balance the tilted vehicle. If such a handlebar operation is performed, it becomes difficult to properly identify the target vehicle due to, for example, changes in the direction of the surrounding environment sensor. As a result, it is difficult to properly perform speed control.

[0009] The present invention has been made against the background of the above-mentioned problems, and an object of the present invention is to provide a control device and a control method capable of appropriately executing speed control based on positional relationship information between a tilted vehicle and a target vehicle.

[0010] Means used to solve problems

[0011] The control device related to the present invention is a control device for controlling the behavior of a tilted vehicle, comprising: an execution unit, which executes speed control for controlling the speed of the tilted vehicle based on positional relationship information between the tilted vehicle and a target vehicle; and a determination unit, which executes determination processing for determining the target vehicle based on a detection result of an ambient environment sensor mounted on the tilted vehicle; the determination unit changes the determination processing based on the speed information of the tilted vehicle.

[0012] The control method related to the present invention is a control method for controlling the behavior of a tilted vehicle, wherein an execution unit of a control device executes speed control for controlling the speed of the tilted vehicle based on positional relationship information between the tilted vehicle and a target vehicle; a determination unit of the control device executes determination processing for determining the target vehicle based on a detection result of an ambient environment sensor mounted on the tilted vehicle; and the determination unit changes the determination processing based on the speed information of the tilted vehicle.

[0013] Effects of the Invention

[0014] In the control device and control method related to the present invention, the execution unit of the control device executes speed control for controlling the speed of the tilted vehicle based on the positional relationship information between the tilted vehicle and the target vehicle, the determination unit of the control device executes determination processing for determining the target vehicle based on the detection result of the surrounding environment sensor mounted on the tilted vehicle, and the determination unit changes the determination processing based on the speed information of the tilted vehicle. Thus, the target vehicle can be properly determined even when the rider performs a handlebar operation for balancing the tilted vehicle. Therefore, the speed control based on the positional relationship information between the tilted vehicle and the target vehicle can be properly executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram showing a schematic structure of a tilting vehicle according to an embodiment of the present invention.

[0016] Figure 2 This is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention.

[0017] Figure 3 This is a flowchart showing an example of the flow of the first process performed by the control device according to the embodiment of the present invention.

[0018] Figure 4 The figure shows a situation where the leading vehicle is located outside the detection range of the surrounding environment sensor of the leaning vehicle according to the embodiment of the present invention.

[0019] Figure 5 This is a flowchart showing an example of the flow of the second process performed by the control device according to the embodiment of the present invention.

[0020] Figure 6 It is a diagram showing a state in which the detection range of the surrounding environment sensor of a leaning vehicle according to the embodiment of the present invention is expanded.

[0021] Figure 7 This is a flowchart showing an example of the flow of the third process performed by the control device according to the embodiment of the present invention.

[0022] Figure 8 This is a diagram showing a situation in which a change in the expected traveling trajectory in the vehicle width direction of a leaning vehicle is suppressed according to the embodiment of the present invention. DETAILED DESCRIPTION

[0023] Hereinafter, a control device and a control method according to the present invention will be described using the drawings.

[0024] In addition, the control device used in the two-wheeled motorcycle is described below (refer to Figure 1 The tilting vehicle 1) is included in the description, but the vehicle to be controlled by the control device of the present invention can be any tilting vehicle as long as it is a tilting vehicle, and may be any tilting vehicle other than a two-wheeled motorcycle. A tilting vehicle refers to a vehicle whose body tilts to the right when turning to the right and tilts to the left when turning to the left. Examples of tilting vehicles include motorcycles (motorized two-wheeled vehicles, motorized three-wheeled vehicles), bicycles, etc. Examples of motorcycles include vehicles with engines as power sources, vehicles with electric motors as power sources, etc. Examples of motorcycles include motor bikes, scooters, electric scooters, etc. A bicycle refers to a vehicle that can be propelled on the road by the pedaling force of the rider applied to the pedals. Examples of bicycles include electric-assisted bicycles, electric bicycles, etc.

[0025] In addition, the following description is about a case where an engine (specifically, a motor described later) is mounted as a driving source capable of outputting power for driving the wheels. Figure 1 The present invention does not involve the case of the engine 11 in the figure, but other drive sources other than the engine (such as an electric motor) may be installed as the drive source, or multiple drive sources may be installed.

[0026] In addition, the configuration and operation etc. described below are merely examples, and the control device and control method according to the present invention are not limited to such configuration and operation etc.

[0027] In addition, the same or similar descriptions are appropriately simplified or omitted below. In addition, in each figure, the same or similar parts or portions are omitted from being assigned reference numerals or the same reference numerals are assigned. In addition, the detailed structure is appropriately simplified or omitted in the illustration.

[0028] <Structure of a tilting vehicle>

[0029] Reference Figure 1 and Figure 2 The structure of the tilting vehicle 1 according to the embodiment of the present invention will be described.

[0030] Figure 1 It is a schematic diagram showing a schematic structure of the tilting vehicle 1 . Figure 2 It is a block diagram showing an example of the functional configuration of the control device 20 .

[0031] The tilting vehicle 1 is a two-wheeled motorcycle which is an example of a tilting vehicle according to the present invention. Figure 1 As shown, it is equipped with a front wheel 2, a rear wheel 3, a handlebar 4, an engine 11, a hydraulic control unit 12, an input device 13, an ambient environment sensor 14, an inertial measurement unit (IMU) 15, a front wheel speed sensor 16, a rear wheel speed sensor 17 and a control device (ECU) 20.

[0032] The engine 11 is equivalent to an example of a driving source of the tilting vehicle 1, and can output power for driving the wheels. For example, the engine 11 is provided with one or more cylinders having a combustion chamber formed therein, a fuel injection valve for injecting fuel toward the combustion chamber, and a spark plug. By injecting fuel from the fuel injection valve, a mixed gas containing air and fuel is formed in the combustion chamber, and the mixed gas is ignited by the spark plug and burns. As a result, the piston arranged in the cylinder reciprocates, causing the crankshaft to rotate. In addition, a throttle valve is provided in the intake pipe of the engine 11, so that the intake amount to the combustion chamber changes according to the opening degree of the throttle valve, i.e., the throttle opening degree.

[0033] The hydraulic control unit 12 is a unit that has the function of controlling the braking force generated on the wheels. For example, the hydraulic control unit 12 includes components (e.g., control valves and pumps) that are provided in the oil circuit connecting the master cylinder and the wheel cylinder to control the brake hydraulic pressure of the wheel cylinder. The braking force generated on the wheels is controlled by controlling the actions of the components of the hydraulic control unit 12. In addition, the hydraulic control unit 12 may be a unit that controls the braking force generated on both the front wheel 2 and the rear wheel 3, or may be a unit that controls the braking force generated on only one of the front wheel 2 and the rear wheel 3.

[0034] The input device 13 receives various operations performed by the rider. The input device 13 is provided on the handlebar 4 , for example, and includes buttons and the like used for the rider's operations. Information related to the rider's operations using the input device 13 is output to the control device 20 .

[0035] The surrounding environment sensor 14 detects surrounding environment information related to the surrounding environment information of the tilted vehicle 1. For example, the surrounding environment sensor 14 is provided at the front of the tilted vehicle 1 and detects surrounding environment information in front of the tilted vehicle 1. The surrounding environment information detected by the surrounding environment sensor 14 is output to the control device 20.

[0036] The surrounding environment information detected by the surrounding environment sensor 14 may also be information related to the distance or orientation to the object located around the tilted vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), and may also be features of the object located around the tilted vehicle 1 (for example, the type of the object, the shape of the object itself, a mark on the object, etc.). The surrounding environment sensor 14 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, etc.

[0037] The inertial measurement device 15 includes a three-axis gyro sensor and a three-axis acceleration sensor to detect the posture of the tilted vehicle 1. The inertial measurement device 13 is, for example, arranged on the body of the tilted vehicle 1. For example, the inertial measurement device 15 detects the tilt angle of the tilted vehicle 1 and outputs the detection result. The inertial measurement device 15 may also be a device that detects other physical quantities that can be substantially converted into the tilt angle of the tilted vehicle 1. The tilt angle is equivalent to an angle representing the tilt of the body (specifically, the vehicle body) of the tilted vehicle 1 in the roll direction relative to the vertical above. The inertial measurement device 15 may also include only a part of the three-axis gyro sensor and the three-axis acceleration sensor.

[0038] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the rotation speed per unit time [rpm] or the moving distance per unit time [km / h] of the front wheel 2), and outputs the detection result. The front wheel speed sensor 16 may also be a sensor that detects other physical quantities that can be substantially converted to the wheel speed of the front wheel 2. The front wheel speed sensor 16 is provided on the front wheel 2.

[0039] The rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the rotation speed [rpm] or the moving distance [km / h] per unit time of the rear wheel 3) and outputs the detection result. The rear wheel speed sensor 17 may also be a sensor that detects other physical quantities that can be substantially converted to the wheel speed of the rear wheel 3. The rear wheel speed sensor 17 is provided on the rear wheel 3.

[0040] The control device 20 controls the behavior of the tilting vehicle 1. For example, part or all of the control device 20 may be composed of a microcomputer, a microprocessor unit, etc. In addition, for example, part or all of the control device 20 may be composed of an updateable element such as firmware, or a program module executed by instructions from a CPU, etc. The control device 20 may be, for example, one or more.

[0041] The control device 20 is as follows Figure 2 As shown, for example, an acquisition unit 21, an execution unit 22, and a determination unit 23 are provided. In addition, the control device 20 communicates with each device of the tilting vehicle 1.

[0042] The acquisition unit 21 acquires information from various devices of the tilting vehicle 1, and outputs the information to the execution unit 22 and the determination unit 23. For example, the acquisition unit 21 acquires information from the input device 13, the surrounding environment sensor 14, the inertial measurement device 15, the front wheel speed sensor 16, and the rear wheel speed sensor 17. In addition, in this specification, the acquisition of information may include extraction or generation of information.

[0043] The execution unit 22 performs various controls by controlling the actions of various devices of the tilting vehicle 1. The execution unit 22 controls the actions of the engine 11 and the hydraulic control unit 12, for example. Here, the execution unit 22 can perform adaptive cruise control as a speed control based on the positional relationship information between the tilting vehicle 1 and the target vehicle. In addition, the above-mentioned positional relationship information can include, for example, information such as the relative position, relative distance, relative speed, relative acceleration, relative jerk, or passing time difference of the tilting vehicle 1 relative to the target vehicle. The above-mentioned positional relationship information can also be information of other physical quantities that can be substantially converted into such information.

[0044] Hereinafter, an example of executing adaptive cruise control as speed control based on positional relationship information between the tilted vehicle 1 and the target vehicle will be described. However, the speed control may be any control other than adaptive cruise control as long as it is based on positional relationship information between the tilted vehicle 1 and the target vehicle.

[0045] The execution unit 22 executes the adaptive cruise control according to the operation performed by the rider using the input device 13, for example. In the adaptive cruise control, the execution unit 22 automatically controls the speed of the leaning vehicle 1 regardless of the acceleration / deceleration operation (i.e., accelerator operation and brake operation) performed by the rider. The execution unit 22 can control the speed of the leaning vehicle 1 based on the wheel speed of the front wheels 2 and the information of the speed of the leaning vehicle 1 obtained from the wheel speed of the rear wheels 3, for example.

[0046] In the adaptive cruise control, the executive unit 22 performs the inter-vehicle distance maintenance control to maintain the inter-vehicle distance between the tilted vehicle 1 and the target vehicle at the target distance. The executive unit 22 performs the inter-vehicle distance maintenance control based on the surrounding environment information detected by the surrounding environment sensor. The surrounding environment sensor 14 is capable of detecting the inter-vehicle distance between the leading vehicle traveling in front of the tilted vehicle 1 and the tilted vehicle 1, and the relative speed of the tilted vehicle 1 with respect to the vehicle. For example, in the inter-vehicle distance maintenance control, the executive unit 22 sets the leading vehicle as the target vehicle, and controls the speed of the tilted vehicle 1 to maintain the inter-vehicle distance with the leading vehicle at the target distance. In addition, the inter-vehicle distance may also refer to the distance in the direction along the vehicle line (specifically, the driving lane of the tilted vehicle 1), or may refer to the straight-line distance.

[0047] The determination unit 23 performs a determination process for determining a target vehicle based on the detection result of the surrounding environment sensor 14 mounted on the tilted vehicle 1. The detection range of the surrounding environment sensor 14 extends from the front of the tilted vehicle 1 to the front. The surrounding environment sensor 14 can detect surrounding environment information within the detection range. The determination unit 23 can determine a vehicle existing within the detection range of the surrounding environment sensor 14 as a target vehicle in the determination process. Based on the target vehicle determined by the determination process, the adaptive cruise control performed by the execution unit 22 is executed.

[0048] Here, the surrounding environment sensor 14 rotates integrally with the handlebar 4 of the tilting vehicle 1. When the tilting vehicle 1 is traveling at a low speed, in order to balance the tilting vehicle 1, the rider may swing the handlebars left and right with a small pitch. If such a handlebar operation is performed, the direction of the surrounding environment sensor 14 changes synchronously with the handlebar 4, and the detection range of the surrounding environment sensor 14 swings left and right. As a result, it is difficult to properly determine the target vehicle, so it becomes difficult to properly perform speed control. In this embodiment, as described later, by carefully designing the determination process of the target vehicle, the target vehicle is properly determined, and speed control is properly performed.

[0049] <Control Device Operation>

[0050] Reference Figure 3 to Figure 8 The operation of the control device 20 according to the embodiment of the present invention will be described.

[0051] As described above, the identification unit 23 of the control device 20 executes identification processing for identifying the target vehicle. Hereinafter, as processing examples related to the identification processing performed by the control device 20 (specifically, the identification unit 23), the first processing, the second processing, and the third processing will be described in order.

[0052] Hereinafter, the low speed travel of the tilting vehicle 1 at a speed lower than the reference speed is simply referred to as the low speed travel. The reference speed is, for example, a speed so low that the rider needs to swing the handlebars left and right by a small distance to balance the tilting vehicle 1.

[0053] Figure 3 This is a flowchart showing an example of the flow of the first process performed by the control device 20 . Figure 3 Step S101 in corresponds to Figure 3 The control flow shown begins.

[0054] If you start Figure 3 In step S102, the determination unit 23 determines the expected driving trajectory of the tilted vehicle 1 (see the following description). Figure 4 The expected driving trajectory in 40).

[0055] The predicted travel trajectory determined in step S102 is a trajectory that the leaning vehicle 1 is expected to travel in the future. In step S102, the determination unit 23 determines the predicted travel trajectory based on, for example, the leaning angle of the leaning vehicle 1 and the steering angle of the handlebar 4.

[0056] Following step S102, in step S103, the determination unit 23 determines the detection range of the surrounding environment sensor 14 used in the determination process (see the following description). Figure 4 The detection range in 50).

[0057] The detection range determined in step S103 is a detection range that is effective in the determination process in the entire detection range that can be detected by the surrounding environment sensor 14. In step S103, the determination unit 23 determines the detection range of the surrounding environment sensor 14 used in the determination process based on the expected travel trajectory of the tilted vehicle 1. For example, the determination unit 23 sets a detection range having a predetermined width (see below) centered on the expected travel trajectory. Figure 4 The range of the first width D1) in FIG. 1 is determined as the detection range of the surrounding environment sensor 14 used in the determination process.

[0058] In step S104 following step S103, the identification unit 23 identifies, as a target vehicle, a vehicle detected by the surrounding environment sensor 14. Specifically, the identification unit 23 identifies, as a target vehicle, a vehicle existing within the detection range determined in step S103.

[0059] Following step S104 , in step S105 , the determination unit 23 determines whether the speed information of the tilted vehicle 1 is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed.

[0060] The speed information described above is information on the speed of the tilting vehicle 1 , and various information can be used as the speed information described above.

[0061] For example, the speed information is information indicating the speed of the tilted vehicle 1. The information indicating the speed of the tilted vehicle 1 can be obtained based on the output results of the front wheel speed sensor 16 and the output results of the rear wheel speed sensor 17. For example, when the speed of the tilted vehicle 1 is lower than the reference speed, the determination unit 23 determines that the speed information is information indicating that the tilted vehicle 1 is traveling at a low speed. In addition, when it is expected that the speed of the tilted vehicle 1 will gradually decrease and fall below the reference speed, the determination unit 23 determines that the speed information is information indicating that the tilted vehicle 1 is in the process of changing to traveling at a low speed.

[0062] In addition, for example, the speed information is information indicating the deceleration of the tilted vehicle 1. The information indicating the deceleration of the tilted vehicle 1 can be obtained based on the change in the speed of the tilted vehicle 1. For example, the determination unit 23 determines that the speed information is information indicating that the tilted vehicle 1 is in the process of changing to a lower speed when the speed of the tilted vehicle 1 is higher than the reference speed but the tilted vehicle 1 is decelerating and the deceleration of the tilted vehicle 1 is greater than the reference deceleration.

[0063] In addition, for example, the speed information is information related to the braking operation performed by the rider of the tilted vehicle 1. As information related to the braking operation, for example, information indicating the operation amount of the braking operation or information indicating the master cylinder pressure can be cited. For example, the determination unit 23 performs a braking operation even though the speed of the tilted vehicle 1 is higher than the reference speed, and when the operation amount of the braking operation is larger than the reference operation amount or the master cylinder pressure is higher than the reference pressure, the speed information is determined to be information on the process of the tilted vehicle 1 changing to a lower speed.

[0064] In step S105, if it is determined that the speed information is not information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S105 / No), the process returns to step S102. On the other hand, in step S105, if it is determined that the speed information is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S105 / Yes), step S105 is repeated.

[0065] While the determination in step S105 is still positive, step S105 is repeated, so the processing in steps S102 to S104 is not performed. That is, when the tilting vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, the target vehicle is prohibited from being changed.

[0066] Figure 41 is a diagram showing a situation where the leading vehicle 30 is located outside the detection range 50 of the surrounding environment sensor 14 of the tilted vehicle 1. Figure 4 In the example of , the tilted vehicle 1 and the preceding vehicle 30 are traveling in the same lane in a row. The preceding vehicle 30 is located in front of the tilted vehicle 1. Figure 4 In the example of FIG. 1 , the leading vehicle 30 is a four-wheeled vehicle. However, the leading vehicle 30 may be a vehicle other than a four-wheeled vehicle (for example, a straddle-type vehicle, etc.).

[0067] exist Figure 4 In the example of FIG. 1 , as the leaning vehicle 1 starts to travel at a low speed, the rider operates the handlebars for balancing the leaning vehicle 1, and as a result, the handlebars 4 are swung to the left. As a result, a trajectory that curves to the left is determined as the expected travel trajectory 40. Furthermore, a range having a first width D1 centered on the expected travel trajectory is determined as the detection range 50 of the surrounding environment sensor 14 used in the determination process. As a result, the leading vehicle 30 is located outside the detection range 50 of the surrounding environment sensor 14.

[0068] Before the tilted vehicle 1 starts running at a low speed, there is a preceding vehicle 30 within the detection range 50 of the surrounding environment sensor 14, and the preceding vehicle 30 is determined as the target vehicle. In such a situation, in the first process described above, as the tilted vehicle 1 starts running at a low speed, the change of the target vehicle is prohibited, so Figure 4 As shown, even when the leading vehicle 30 deviates from the detection range 50 , the leading vehicle 30 is maintained as the target vehicle.

[0069] As mentioned above, in reference Figure 3 and Figure 4 In the first process described, the determination unit 23 determines whether the target vehicle can be changed based on the speed information. Specifically, the determination unit 23 prohibits the change of the target vehicle when the speed information indicates that the tilted vehicle 1 is running at a low speed or is in the process of changing to running at a low speed. As a result, when the target vehicle deviates from the detection range 50 of the surrounding environment sensor 14 due to the handlebar operation performed by the rider to balance the tilted vehicle 1, the target vehicle is prevented from being lost. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0070] However, the determination unit 23 may perform a process different from the first process described above when determining whether the target vehicle can be changed based on the speed information. For example, when there is a prohibition condition for changing the target vehicle based on something other than the speed information, the determination unit 23 may set the prohibition condition to a condition that makes it easier to prohibit the change of the target vehicle when the speed information is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, compared to when the speed information is information not indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed.

[0071] Furthermore, in the first process described above, after the change of the target vehicle is prohibited, when it is determined that the speed information is not information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, the function of prohibiting the change of the target vehicle is released. However, the release condition of the function of prohibiting the change of the target vehicle may be other than the above-mentioned example. For example, as the release condition of the function of prohibiting the change of the target vehicle, a condition in which a rider performs a certain operation using the input device 13 or the like may be used. Furthermore, as the release condition of the function of prohibiting the change of the target vehicle, for example, a condition in which it is determined that the tilted vehicle 1 is traveling on a curve may be used. The determination unit 23 may determine whether the tilted vehicle 1 is traveling on a curve based on, for example, the tilt angle of the tilted vehicle 1, the degree of change in the tilt angle, or the yaw rate of the tilted vehicle 1.

[0072] Figure 5 This is a flowchart showing an example of the flow of the second process performed by the control device 20 . Figure 5 Step S201 in corresponds to Figure 5 The control flow shown begins.

[0073] If you start Figure 5 According to the control flow shown in FIG. 1 , in step S202, the determination unit 23 determines the expected driving trajectory 40 of the tilted vehicle 1. The processing of step S202 is similar to that of Figure 3 The processing of step S102 is the same.

[0074] Following step S202, in step S203, the determination unit 23 determines whether the speed information of the tilted vehicle 1 is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed. Figure 3 The processing of step S105 is the same.

[0075] In step S203, if it is determined that the speed information is not information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S203 / No), the process proceeds to step S204. In step S204, the determination unit 23 sets the width of the detection range 50 of the surrounding environment sensor 14 used in the determination process to the first width D1 and determines the detection range 50. Specifically, the determination unit 23 determines the range having the first width D1 centered on the expected travel trajectory 40 as the detection range 50.

[0076] On the other hand, in step S203, if the speed information indicates that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S203 / Yes), the process proceeds to step S205. In step S205, the determination unit 23 sets the width of the detection range 50 of the surrounding environment sensor 14 used in the determination process to the second width (see the following description). Figure 6 The second width D2 is wider than the first width D1. Specifically, the determination unit 23 determines the range having the second width D2 centered on the expected driving track 40 as the detection range 50.

[0077] Figure 6 1 is a diagram showing a state in which the detection range 50 of the surrounding environment sensor 14 of the tilted vehicle 1 is expanded. Figure 6 In the example, Figure 4 In the same example, the leading vehicle 30 is traveling in front of the tilted vehicle 1 in the same lane. Figure 4 In the example of FIG. 5 , as the vehicle 1 tilts and starts to travel at a low speed, the preceding vehicle 30 deviates from the detection range 50. On the other hand, in the second process described above, as the vehicle 1 tilts and starts to travel at a low speed, the preceding vehicle 30 deviates from the detection range 50. Figure 6 As shown, the detection range 50 is expanded. As a result, the preceding vehicle 30 does not deviate from the detection range 50, and the situation where the preceding vehicle 30 is located within the detection range 50 is maintained.

[0078] In addition, Figure 6 In the example of , when the determination unit 23 expands the detection range 50, the detection range 50 is expanded symmetrically on both sides with the expected driving trajectory 40 as the center. However, when the determination unit 23 expands the detection range 50, the detection range 50 may be expanded only on one side with the expected driving trajectory 40 as the reference. For example, the determination unit 23 may expand the detection range 50 only in the direction in which the expected driving trajectory 40 is bent relative to the body of the tilted vehicle 1 ( Figure 6 in the example to the left) and in the opposite direction (in the example to the left) Figure 6 In the example above, it is expanded to the right.

[0079] exist Figure 5In step S206 following step S204 or step S205, the determination unit 23 determines the vehicle detected by the surrounding environment sensor 14 as the target vehicle, and returns to step S202. The processing of step S206 is the same as that of step S203. Figure 3 The processing of step S104 is the same.

[0080] As mentioned above, in reference Figure 5 and Figure 6 In the second process described, the determination unit 23 changes the detection range 50 of the surrounding environment sensor 14 used in the determination process based on the speed information. Specifically, when the speed information indicates that the leaning vehicle 1 is traveling at a speed lower than the reference speed or is in the process of changing to traveling at a low speed, the determination unit 23 expands the detection range 50 compared to the case where the speed information does not indicate that the leaning vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed. Thus, even when the rider performs a handlebar operation for balancing the leaning vehicle 1, the target vehicle does not deviate from the detection range 50, and the target vehicle is maintained within the detection range 50. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0081] However, the determination unit 23 may perform a process different from the second process described above when the detection range 50 of the surrounding environment sensor 14 is changed based on the speed information. For example, the determination unit 23 may gradually expand the detection range 50 of the surrounding environment sensor 14 as the speed of the tilted vehicle 1 decreases. In addition, for example, the determination unit 23 may change the shape, extension direction, or relative position of the detection range 50 of the surrounding environment sensor 14 with respect to the tilted vehicle 1 based on the speed information.

[0082] In the second process described above, after the detection range 50 is expanded, if it is determined that the speed information is not information indicating that the leaning vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, the function of expanding the detection range 50 is canceled. However, the canceling condition of the function of expanding the detection range 50 may be other than the above-mentioned example. For example, as the canceling condition of the function of expanding the detection range 50, the condition that a certain operation is performed by the rider using the input device 13 or the like, or the condition that it is determined that the leaning vehicle 1 is traveling on a curve may be used, similarly to the canceling condition of the function of prohibiting the change of the target vehicle.

[0083] Figure 7 This is a flowchart showing an example of the flow of the third process performed by the control device 20 . Figure 7 Step S301 in corresponds to Figure 7 The control flow shown begins.

[0084] If it starts Figure 7 In step S302, the determination unit 23 determines the expected driving trajectory 40 of the tilted vehicle 1. The processing of step S302 is similar to Figure 3 The processing of step S102 is the same.

[0085] In step S303 following step S302, the determination unit 23 determines whether the speed information of the tilted vehicle 1 is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed. Figure 3 The processing of step S105 is the same.

[0086] In step S303, if it is determined that the speed information is information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S303 / Yes), the process proceeds to step S304. On the other hand, in step S303, if it is determined that the speed information is not information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed (step S303 / No), step S304 is not performed and the process proceeds to step S305.

[0087] In step S304 , the determination unit 23 executes a variation suppression process for suppressing variation in the predicted travel trajectory 40 in the vehicle width direction of the tilted vehicle 1 .

[0088] As described above, the handlebar operation performed by the rider to balance the tilted vehicle 1 is to swing the handlebar 4 left and right with a small pitch. Therefore, when such a handlebar operation is performed, the expected travel trajectory 40 determined in step S302 changes in the vehicle width direction of the tilted vehicle 1. Specifically, the change range of the direction of the bending of the expected travel trajectory 40 in the vehicle width direction (for example, the following) is Figure 8 Swing left and right within the width D3).

[0089] For example, the determination unit 23 adjusts the predicted driving trajectory 40 so that the fluctuation range of the predicted driving trajectory 40 in the vehicle width direction is smaller than when the fluctuation suppression process is not executed by performing filtering processing using a low-pass filter on the data representing the transition of the predicted driving trajectory 40 in the fluctuation suppression process. In addition, for example, the determination unit 23 adjusts the predicted driving trajectory 40 so that the fluctuation range of the predicted driving trajectory 40 in the vehicle width direction is less than the upper limit.

[0090] Figure 8 4 is a diagram showing a state in which the change of the expected travel trajectory 40 in the vehicle width direction of the tilted vehicle 1 is suppressed. Figure 8 In the example, Figure 4 In the same example, the leading vehicle 30 is traveling in front of the tilted vehicle 1 in the same lane. Figure 4 In the example of , as the tilted vehicle 1 starts to travel at a low speed, the leading vehicle 30 deviates from the inspection range 50. On the other hand, in the third process described above, as the tilted vehicle 1 starts to travel at a low speed, the change suppression process is performed. Figure 8 As shown, the variation range of the expected traveling track 40 in the vehicle width direction changes from the width D3 to the width D4. The width D4 after the change is smaller than the width D3 when the variation suppression process is not executed. In this way, since the variation of the expected traveling track 40 in the vehicle width direction is suppressed by the variation suppression process, the detection range 50 is suppressed from swinging left and right in synchronization with the handlebar 4. As a result, the leading vehicle 30 does not deviate from the detection range 50, and the state where the leading vehicle 30 is located within the detection range 50 is maintained.

[0091] exist Figure 7 In the case of the subsequent step S304 or the determination result in step S303 being negative, in step S305, the determination unit 23 determines the detection range 50 of the surrounding environment sensor 14 used in the determination process. Figure 3 The processing of step S103 is the same.

[0092] In step S306 following step S305, the determination unit 23 determines the vehicle detected by the surrounding environment sensor 14 as the target vehicle, and returns to step S302. The processing of step S306 is the same as that of step S306. Figure 3 The processing of step S104 is the same.

[0093] As mentioned above, in reference Figure 7 and Figure 8 In the third process described, the determination unit 23 changes the expected travel trajectory 40 based on the speed information. Specifically, when the speed information is information indicating that the leaning vehicle 1 is traveling at a low speed lower than the reference speed or is in the process of changing to traveling at a low speed, the determination unit 23 suppresses the change of the expected travel trajectory 40 in the vehicle width direction of the leaning vehicle 1. As a result, even when the rider performs a handlebar operation for balancing the leaning vehicle 1, the target vehicle does not deviate from the detection range 50, and the state in which the target vehicle is located within the detection range 50 is maintained. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0094] However, the determination unit 23 may perform a process different from the third process described above when changing the predicted travel trajectory 40 based on the speed information. For example, the determination unit 23 may perform the change suppression process so that the suppression effect gradually increases as the speed of the tilting vehicle 1 decreases.

[0095] In addition, in the third process described above, after the change of the expected driving trajectory 40 is suppressed, if it is determined that the speed information is not information indicating that the tilted vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, the function of suppressing the change of the expected driving trajectory 40 is released. However, the release condition of the function of suppressing the change of the expected driving trajectory 40 may be other than the above-mentioned example. For example, as the release condition of the function of suppressing the change of the expected driving trajectory 40, the condition that the rider performs a certain operation using the input device 13 or the like or the condition that it is determined that the tilted vehicle 1 is traveling on a curve may be used.

[0096] In the above, the first process, the second process, and the third process are described as processing examples related to the determination process performed by the determination unit 23. These processes can be performed in various situations. For example, the determination unit 23 may also perform the above-mentioned processing examples in a situation where a group consisting of a plurality of vehicles including the tilted vehicle 1 is performing group travel. In group travel, the group consisting of a plurality of vehicles including the tilted vehicle 1 travels in a plurality of vehicle columns (specifically, two vehicle columns, a left vehicle column and a right vehicle column in the same lane).

[0097] <Effect of Control Device>

[0098] The effects of the control device 20 according to the embodiment of the present invention will be described.

[0099] The control device 20 includes: an execution unit 22 that executes speed control (adaptive cruise control in the above example) for controlling the speed of the tilting vehicle 1 based on the positional relationship information between the tilting vehicle 1 and the target vehicle; and a determination unit 23 that executes a determination process for determining the target vehicle based on the detection result of the surrounding environment sensor 14 mounted on the tilting vehicle 1. Moreover, the determination unit 23 changes the determination process based on the speed information of the tilting vehicle 1. As a result, the target vehicle can be appropriately determined even when the rider performs a handlebar operation for balancing the tilting vehicle 1. Therefore, the speed control based on the positional relationship information between the tilting vehicle 1 and the target vehicle can be appropriately performed.

[0100] Preferably, in the control device 20, the surrounding environment sensor 14 rotates integrally with the handlebar 4 of the tilting vehicle 1. In this case, if the rider operates the handlebar to balance the tilting vehicle 1, the direction of the surrounding environment sensor 14 changes synchronously with the handlebar 4, and the detection range 50 of the surrounding environment sensor 14 swings left and right. As a result, it is easy to become difficult to appropriately identify the target vehicle. Therefore, it is particularly important to appropriately identify the target vehicle by changing the identification process based on the speed information.

[0101] However, the surrounding environment sensor 14 may not rotate integrally with the handlebar 4 of the tilting vehicle 1. In such a case, the detection result of the surrounding environment sensor 14 may change due to the handlebar operation performed by the rider to balance the tilting vehicle 1. Therefore, by changing the determination process based on the speed information, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0102] Preferably, in the control device 20, the determination unit 23 determines whether to change the target vehicle based on the speed information. As a result, as in the first process described above, when the target vehicle deviates from the detection range 50 of the surrounding environment sensor 14 as the rider performs a handlebar operation for balancing the tilted vehicle 1, the target vehicle is prevented from being lost. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0103] Preferably, in the control device 20, the determination unit 23 prohibits the change of the target vehicle when the speed information indicates that the leaning vehicle 1 is traveling at a low speed lower than the reference speed or is in the process of changing to a low speed. Thus, as in the first process described above, when the target vehicle deviates from the detection range 50 of the surrounding environment sensor 14 as the rider performs a handlebar operation for balancing the leaning vehicle 1, it is appropriately achieved to suppress the target vehicle from being lost. Therefore, it is appropriately achieved to appropriately determine the target vehicle and appropriately perform the speed control.

[0104] Preferably, in the control device 20, the determination unit 23 changes the detection range 50 of the surrounding environment sensor 14 used in the determination process based on the speed information. As a result, even when the rider performs a handlebar operation for balancing the tilted vehicle 1 as in the second process described above, the target vehicle does not deviate from the detection range 50, and the target vehicle is maintained within the detection range 50. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0105] Preferably, in the control device 20, when the speed information is information indicating that the leaning vehicle 1 is traveling at a low speed lower than the reference speed or is in the process of changing to traveling at a low speed, the determination unit 23 expands the detection range 50 compared to the case where the speed information is not information indicating that the leaning vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed. Thus, as in the second process described above, when the rider performs a handlebar operation for balancing the leaning vehicle 1, the target vehicle does not deviate from the detection range 50, and the target vehicle is appropriately maintained within the detection range 50. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0106] Preferably, in the control device 20, the detection range 50 of the surrounding environment sensor 14 used in the determination process is determined based on the expected travel trajectory 40 of the tilting vehicle 1, and the determination unit 23 changes the expected travel trajectory 40 based on the speed information. As a result, as in the third process described above, when the rider performs a handlebar operation for balancing the tilting vehicle 1, the target vehicle does not deviate from the detection range 50, and the target vehicle is maintained within the detection range 50. Therefore, the target vehicle can be appropriately determined and the speed control can be appropriately performed.

[0107] Preferably, in the control device 20, the determination unit 23 suppresses the change of the expected travel trajectory 40 in the vehicle width direction of the leaning vehicle 1 when the speed information is information indicating that the leaning vehicle 1 is traveling at a low speed lower than the reference speed or is in the process of changing to traveling at a low speed. Therefore, as in the third process described above, when the rider performs a handlebar operation for balancing the leaning vehicle 1, the target vehicle does not deviate from the detection range 50, and the target vehicle is appropriately maintained within the detection range 50. Therefore, the target vehicle is appropriately determined and the speed control is appropriately performed.

[0108] Preferably, in the control device 20, the speed information is information indicating the speed of the tilting vehicle 1. Thus, focusing on the speed of the tilting vehicle 1, it is possible to appropriately determine whether the tilting vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed.

[0109] Preferably, in the control device 20, the speed information is information indicating the deceleration of the tilted vehicle 1. Thus, focusing on the deceleration of the tilted vehicle 1, it is possible to appropriately determine whether the tilted vehicle 1 is running at a low speed or is in the process of changing to running at a low speed.

[0110] Preferably, in the control device 20, the speed information is information about the brake operation performed by the rider of the leaning vehicle 1. Thus, it is possible to appropriately determine whether the leaning vehicle 1 is running at a low speed or is in the process of changing to running at a low speed, focusing on the brake operation performed by the rider.

[0111] The present invention is not limited to the description of the embodiment. For example, only a part of the embodiment may be implemented. For example, the speed information used in each of the first process, the second process, and the third process described above is not particularly limited. Specifically, in each of the first process, the second process, and the third process described above, as the speed information, information indicating the speed of the tilted vehicle 1, information indicating the deceleration of the tilted vehicle 1, and information related to the braking operation performed by the rider of the tilted vehicle 1 may be used. In addition, in each of the first process, the second process, and the third process described above, as the speed information, multiple types of information may be used, including information indicating the speed of the tilted vehicle 1, information indicating the deceleration of the tilted vehicle 1, and information related to the braking operation performed by the rider of the tilted vehicle 1.

[0112] Description of Reference Numerals

[0113] 1 tilting vehicle; 2 front wheel; 3 rear wheel; 4 handlebar; 11 engine; 12 hydraulic control unit; 13 input device; 14 surrounding environment sensor; 15 inertial measurement device; 16 front wheel speed sensor; 17 rear wheel speed sensor; 20 control device; 21 acquisition unit; 22 execution unit; 23 determination unit; 30 preceding vehicle; 40 expected driving trajectory; 50 detection range; D1 first width; D2 second width; D3 width; D4 width.

Claims

1. A control device, a control device (20) for controlling the behavior of a tilting vehicle (1), characterized in that: have: an execution unit (22) for executing speed control for controlling the speed of the tilted vehicle (1) based on positional relationship information between the tilted vehicle (1) and the target vehicle; and A determination unit (23) performs a determination process for determining the target vehicle based on a detection result of a surrounding environment sensor (14) mounted on the tilting vehicle (1); The determination unit (23) changes the determination process based on the speed information of the tilted vehicle (1).

2. The control device according to claim 1, characterized in that The surrounding environment sensor (14) rotates integrally with the handlebar (4) of the tilting vehicle (1).

3. The control device according to claim 1 or 2, characterized in that: The determination unit (23) determines whether or not to change the target vehicle based on the speed information.

4. The control device according to claim 3, characterized in that: The determination unit (23) prohibits the change of the target vehicle when the speed information is information indicating that the tilted vehicle (1) is traveling at a low speed lower than a reference speed or is in the process of changing to the low speed.

5. The control device according to claim 1 or 2, characterized in that: The determination unit (23) changes a detection range (50) of the surrounding environment sensor (14) used in the determination process based on the speed information.

6. The control device according to claim 5, characterized in that The determination unit (23) expands the detection range (50) when the speed information indicates that the tilted vehicle (1) is traveling at a low speed lower than a reference speed or is in the process of changing to the low speed, compared to a case where the speed information does not indicate that the tilted vehicle (1) is traveling at the low speed or is in the process of changing to the low speed.

7. The control device according to claim 1 or 2, characterized in that: The detection range (50) of the surrounding environment sensor (14) used in the determination process is determined based on the expected travel trajectory (40) of the tilted vehicle (1); The determination unit (23) changes the predicted driving trajectory (40) based on the speed information.

8. The control device according to claim 7, characterized in that The determination unit (23) suppresses changes in the expected driving trajectory (40) in the vehicle width direction of the tilted vehicle (1) when the speed information is information indicating that the tilted vehicle (1) is traveling at a low speed lower than a reference speed or is in the process of changing to the low speed.

9. The control device according to claim 1 or 2, characterized in that: The speed information is information indicating the speed of the tilted vehicle (1).

10. The control device according to claim 1 or 2, characterized in that: The speed information is information indicating the deceleration of the tilted vehicle (1).

11. The control device according to claim 1 or 2, characterized in that: The aforementioned speed information is information related to the braking operation performed by the rider of the aforementioned tilting vehicle (1).

12. A control method for controlling the behavior of a tilting vehicle (1), characterized in that: The execution unit (22) of the control device (20) executes speed control to control the speed of the tilted vehicle (1) based on the positional relationship information between the tilted vehicle (1) and the target vehicle; The determination unit (23) of the control device (20) performs determination processing for determining the target vehicle based on the detection result of the surrounding environment sensor (14) mounted on the tilting vehicle (1); The determination unit (23) changes the determination process based on the speed information of the tilted vehicle (1).

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