Control device and control method

Abstract

The invention provides a control device and a control method capable of appropriately assisting driving by a driver of a saddle-type vehicle. In a control device (17) and a control method according to the present invention, an execution unit of the control device (17) executes a driver assistance operation for assisting driving by a driver (2) of a saddle-type vehicle (1), and executes a first assistance operation. The first assist operation is a driver assist operation that assists driving by the driver (2) by means of display by the display units (21, 31).

Description

Technical Field

[0001] The present disclosure relates to a control device and a control method that can appropriately assist a driver of a saddle-type vehicle in driving. Background Art

[0002] Various technologies have been proposed for assisting drivers of riding vehicles such as motorcycles. For example, Patent Document 1 discloses a driver assistance system that warns the motorcycle driver of an inappropriate approach to an obstacle based on information detected by a sensor device that detects obstacles in or substantially in the direction of travel.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2009-116882. Summary of the Invention

[0006] Technical problem to be solved by the invention

[0007] One driver-assisting action that assists the driver in driving is presenting information to the driver. Since saddle-type vehicles lack a cabin, presenting information via sound or vibration is more difficult than with four-wheeled vehicles. Therefore, there is a high need to assist the driver of a saddle-type vehicle by appropriately presenting information to the driver.

[0008] The present invention has been made with the above-mentioned technical problems as a background, and provides a control device and a control method that can appropriately assist a driver of a saddle-type vehicle in driving.

[0009] Means for solving technical problems

[0010] The control device involved in the present invention is a control device of a driver assistance system that assists the driving performed by the driver of a riding-type vehicle, and has an execution unit that executes a driver assistance action to assist the driving performed by the driver, and the execution unit executes a first assistance action, which is the driver assistance action that assists the driving performed by the driver through display by a display unit.

[0011] The control method involved in the present invention is a control method for a driver assistance system that assists the driving performed by a driver of a riding-type vehicle, wherein an execution unit of a control device executes a driver assistance action that assists the driving performed by the driver, and the execution unit executes a first assistance action, which is the driver assistance action that assists the driving performed by the driver through display by a display unit.

[0012] Effects of the Invention

[0013] In the control device and control method according to the present invention, an execution unit of the control device executes a driver-assisting action that assists the driver of a saddle-type vehicle in driving. The execution unit executes a first assisting action, which is a driver-assisting action that assists the driver in driving by displaying information on a display unit. This allows for appropriate information presentation to the driver. Therefore, it is possible to appropriately assist the driver of a saddle-type vehicle in driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram showing a schematic configuration of a saddle-ride type vehicle according to an embodiment of the present invention.

[0015] Figure 2 This is a block diagram illustrating an example of a functional structure of a control device according to an embodiment of the present invention.

[0016] 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.

[0017] Figure 4 This is a diagram showing a situation in which a vehicle group including saddle-type vehicles according to an embodiment of the present invention is traveling in a platoon.

[0018] Figure 5 This is a diagram showing an example of displaying an augmented reality object in the driver's field of view in the first process according to the embodiment of the present invention.

[0019] Figure 6 This is a diagram showing an example of display of an augmented reality object within the driver's field of view in the first process according to the embodiment of the present invention.

[0020] Figure 7 This is a diagram showing an example of display of an augmented reality object within the driver's field of view in the first process according to the embodiment of the present invention.

[0021] Figure 8 This is a diagram showing an example of display of an augmented reality object within the driver's field of view in the first process according to the embodiment of the present invention.

[0022] Figure 9 This is a diagram showing an example of display of an augmented reality object within the driver's field of view in the first process according to the embodiment of the present invention.

[0023] Figure 10 This is a diagram showing an example of display of an augmented reality object within the driver's field of view in the first process according to the embodiment of the present invention.

[0024] Figure 11 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.

[0025] Figure 12 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.

[0026] Figure 13 This is a flowchart showing an example of the flow of the fourth process performed by the control device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0027] Hereinafter, the control device and the control method according to the present invention will be described with reference to the accompanying drawings.

[0028] In addition, the control device used in the two-wheeled motorcycle is described below (refer to Figure 1 The present invention is not limited to the riding-type vehicle 1), but the vehicle to be controlled by the control device involved in the present invention may also be a riding-type vehicle other than a two-wheeled motorcycle. A riding-type vehicle means a vehicle that a driver rides astride. Riding-type vehicles include, for example, motorcycles (motorized two-wheeled vehicles, motorized three-wheeled vehicles), bicycles, etc. Motorcycles include vehicles that use an engine as a power source, vehicles that use an electric motor as a power source, etc. Motorcycles include, for example, autobikes, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road with the help of the driver's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric-assisted bicycles, electric bicycles, etc.

[0029] In addition, the following description is as an output for driving the drive wheel (specifically, Figure 1 The rear wheel is driven by an engine (specifically, Figure 1 The present invention does not include the case of the engine 11 in the figure, but a drive source other than the engine (such as an electric motor) may be installed as a drive source, or a plurality of drive sources may be installed.

[0030] In addition, the following describes a control unit for controlling the hydraulic pressure of the brake fluid (specifically, a control unit described later) as a control unit for the braking force generated in the wheel. Figure 1 However, as the control unit for the braking force generated at the wheel, a control unit that controls the position of the wheel's braking portion itself with the help of an electrical signal (so-called full-circuit braking, Break-By-Wire) may also be used.

[0031] Note that the structure and operation described below are merely examples, and the control device and control method according to the present invention are not limited to such structures and operations.

[0032] In addition, the following descriptions of the same or similar parts are simplified or omitted as appropriate. In addition, in each figure, the same or similar parts or components are omitted or marked with the same reference numerals. In addition, the detailed structure is simplified or omitted as appropriate.

[0033] <Structure of a riding vehicle>

[0034] Reference Figure 1 as well as Figure 2 , the structure of the saddle-ride type vehicle 1 according to the embodiment of the present invention will be described.

[0035] Figure 1 Schematic diagram showing the general structure of a saddle-ride type vehicle 1. The saddle-ride type vehicle 1 is a two-wheeled motorcycle corresponding to an example of a saddle-ride type vehicle according to the present invention. Figure 1 As shown, the saddle-type vehicle 1 includes an engine 11, a hydraulic control unit 12, an ambient environment sensor 13, a front wheel speed sensor 14, a rear wheel speed sensor 15, an inertial measurement unit (IMU) 16, and a control unit (ECU) 17. The ambient environment sensor 13 includes a front ambient environment sensor 13f and a rear ambient environment sensor 13r. In this specification, the saddle-type vehicle 1 is also referred to as the host vehicle 1.

[0036] Figure 1 FIG. 1 shows a case where a driver 2 of a riding type vehicle 1 wears a helmet 3. A display unit 21 is provided on the gloves worn by the driver 2. The helmet 3 is as shown in FIG. Figure 1 As shown, a display unit 31 and a camera 32 are provided.

[0037] The driver assistance system 10 that assists the driver 2 of the riding-type vehicle 1 in driving includes the above-mentioned structural elements (specifically, the engine 11, the hydraulic control unit 12, the surrounding environment sensor 13, the front wheel speed sensor 14, the rear wheel speed sensor 15, the inertial measurement device 16, the control device 17, the display unit 21, the display unit 31 and the camera 32).

[0038] The engine 11 is equivalent to an example of a driving source of the riding type vehicle 1, and can output power for driving the wheels. For example, the engine 11 is provided with one or more cylinders with combustion chambers formed therein, a fuel injection valve for injecting fuel into 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 and the crankshaft rotates. In addition, a throttle valve is provided in the intake pipe of the engine 11, and the amount of air intake into the combustion chamber changes according to the opening of the throttle valve, that is, the throttle opening.

[0039] The hydraulic control unit 12 is responsible for controlling the braking force applied to the wheels. For example, it is located in the oil circuit connecting the master cylinder and the wheel cylinders and includes components (such as control valves and pumps) for controlling the brake fluid pressure in the wheel cylinders. By controlling the operation of the components of the hydraulic control unit 12, the braking force applied to the wheels is controlled. Furthermore, the hydraulic control unit 12 can control the braking force applied to both the front and rear wheels, or only one of them.

[0040] The surrounding environment sensors 13 detect surrounding environment information regarding the environment surrounding the saddle-ride type vehicle 1. A front surrounding environment sensor 13f is provided at the front of the saddle-ride type vehicle 1 and detects surrounding environment information in front of the saddle-ride type vehicle 1. A rear surrounding environment sensor 13r is provided at the rear of the saddle-ride type vehicle 1 and detects surrounding environment information behind the saddle-ride type vehicle 1. The surrounding environment information detected by each surrounding environment sensor 13 is output to the control device 17.

[0041] The surrounding environment information detected by the surrounding environment sensor 13 may be information related to the distance or orientation of the saddle-type vehicle 1 to the objects located nearby (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or characteristics of the objects located nearby the saddle-type vehicle 1 (e.g., the type of the object, the shape of the object itself, a marker attached to the object, etc.). Examples of the surrounding environment sensor 13 include radar, radar sensor, ultrasonic sensor, camera, etc.

[0042] In addition, the surrounding environment information is also detected by surrounding environment sensors installed in other vehicles or infrastructure equipment. In other words, the control device 17 can obtain the surrounding environment information through wireless communication with other vehicles or infrastructure equipment.

[0043] The front wheel speed sensor 14 detects the front wheel speed (e.g., the number of revolutions per unit time [rpm] or the distance traveled per unit time [km / h]) and outputs the detection result. The front wheel speed sensor 14 may also detect other physical quantities that can be substantially converted to the front wheel speed. The front wheel speed sensor 14 is installed on the front wheel.

[0044] The rear wheel speed sensor 15 detects the rear wheel speed (e.g., the number of revolutions per unit time [rpm] or the distance traveled per unit time [km / h]) and outputs the detection result. The rear wheel speed sensor 15 may also detect other physical quantities that can be substantially converted to the rear wheel speed. The rear wheel speed sensor 15 is installed on the rear wheel.

[0045] The inertial measurement device 16 includes a three-axis gyro sensor and a three-directional acceleration sensor to detect the posture of the saddle-type vehicle 1. The inertial measurement device 16 is, for example, installed on the body of the saddle-type vehicle 1. For example, the inertial measurement device 16 detects the tilt angle of the saddle-type vehicle 1 and outputs the detection result. The inertial measurement device 16 can also detect other physical quantities that can be substantially converted to the tilt angle of the saddle-type vehicle 1. The tilt angle is equivalent to the angle that represents the tilt of the body (specifically, the vehicle body) of the saddle-type vehicle 1 relative to the vertical upward direction in the roll direction. The inertial measurement device 16 can also include only a part of the three-axis gyro sensor and the three-directional acceleration sensor.

[0046] The control device 17 controls the driver assistance system 10. For example, part or all of the control device 17 may be composed of a microcomputer, a microprocessor unit, or the like. Furthermore, part or all of the control device 17 may be composed of an updateable device such as firmware, or a program module executed in response to instructions from a CPU or the like. For example, the control device 17 may be a single unit or multiple units.

[0047] The display unit 21 has a display function of visually displaying information. As the display unit 21, a lamp etc. can be cited, for example. Specifically, the display unit 21 includes display elements provided on each of the left and right gloves.

[0048] The display unit 31 has a function of visually displaying information within the field of view of the driver 2. Examples of the display unit 31 include a device that includes a light-transmitting member provided on the front of the helmet 3 and projects an image onto the member. Such technology is also known as a head-up display.

[0049] The camera 32 is mounted on the rear portion of the helmet 3, facing rearward. While the saddle-type vehicle 1 is in operation, the camera 32's field of view expands rearward from the camera 32. While the saddle-type vehicle 1 is in operation, the camera 32 captures video reflecting this field of view. The camera 32 includes, for example, an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor and an image processing device such as an ISP (Image Signal Processor). Alternatively, the camera 32 for capturing images of the rear of the saddle-type vehicle 1 may be mounted on the saddle-type vehicle 1.

[0050] Figure 2 17 is a block diagram showing an example of the functional structure of the control device 17. Figure 2 As shown, the control device 17 includes, for example, an acquisition unit 17 a and an execution unit 17 b . Furthermore, the control device 17 communicates with each device of the driver assistance system 10 .

[0051] The acquisition unit 17a acquires information from various devices in the driver assistance system 10. For example, the acquisition unit 17a acquires information from the front environment sensor 13f, the rear environment sensor 13r, the front wheel speed sensor 14, the rear wheel speed sensor 15, the inertial measurement device 16, and the camera 32. In this specification, information acquisition may include information extraction or generation. Information generation is achieved through calculation.

[0052] The execution unit 17b executes a driver assistance action. A driver assistance action is an action that assists the driver 2 in driving and can include various actions. As described later, the execution unit 17b appropriately controls the engine 11, the hydraulic control unit 12, the display unit 21, and the display unit 31 during the driver assistance action.

[0053] In particular, the execution unit 17b executes a first assist action, a driver assist action, that assists the driver 2 in driving by means of a display on the display unit (in the above example, the display unit 21 or the display unit 31). As described below, this enables appropriate assistance to the driver 2 in driving the saddle-type vehicle 1. Details of the first assist action will be described below.

[0054] In addition, the execution unit 17b executes a second auxiliary action as a driver assistance action different from the first auxiliary action based on the positional relationship information between the riding type vehicle 1 and the object (such as another vehicle). The above-mentioned positional relationship information may include, for example, information such as the relative position, relative distance, relative speed, relative acceleration, relative jerk, or time difference of the riding type vehicle 1 relative to the other vehicles. The above-mentioned positional relationship information may also be information of other physical quantities that can be substantially converted into such information. The above-mentioned positional relationship information is acquired as surrounding environment information by the acquisition unit 17a. For example, the acquisition unit 17a can acquire the above-mentioned positional relationship information based on the output result of the surrounding environment sensor 13. As described later, as the second auxiliary action, for example, adaptive cruise control can be cited. The details of the second auxiliary action will be described later.

[0055] <Control device operation>

[0056] Reference Figures 3 to 13 , the operation of the control device 17 involved in the embodiment of the present invention is described.

[0057] As described above, the control device 17 primarily implements the first assistive action (in other words, the driver assistive action displayed) to appropriately assist the driver 2 of the saddle-type vehicle 1 in driving. Below, as an example of processing related to the first assistive action, the first, second, third, and fourth processes will be described in this order.

[0058] Figure 3 This is a flowchart showing an example of the flow of the first process performed by the control device 17 . Figure 3 Step S101 in Figure 3 The control flow shown is started. In the first process, Figure 3 Step S104 in the flowchart corresponds to the first auxiliary action.

[0059] like Figure 3 The control flow shown in FIG. 1 is started. Then, in step S102, the execution unit 17b determines whether the starting conditions for the second assistive action (in other words, a driver-assisting action based on positional relationship information between the saddle-type vehicle 1 and an object (e.g., another vehicle)) are met. As will be described later, the starting conditions for step S102 may vary depending on the type of the second assistive action.

[0060] If it is determined that the start condition of the second auxiliary operation is not satisfied (step S102 / NO), step S102 is repeated. On the other hand, if it is determined that the start condition of the second auxiliary operation is satisfied (step S102 / YES), the process proceeds to step S103.

[0061] When the determination in step S102 is YES, in step S103 , the execution unit 17 b executes the second assistance operation.

[0062] Next, in step S104, the execution unit 17b executes the first auxiliary action. Figure 3 In the first processing of the first auxiliary action, the execution unit 17b executes the display unit 31 to display the augmented reality object in the field of view of the driver 2 (see the following description) based on the surrounding environment information of the saddle-type vehicle 1. Figures 5 to 10 An example of the first auxiliary action in the first process will be described later.

[0063] Next, in step S105, the execution unit 17b determines whether the end condition of the second assisted operation is satisfied. As will be described later, the end condition of step S105 may differ depending on the type of the second assisted operation.

[0064] If it is determined that the end condition of the second assisted operation is not satisfied (step S105 / NO), the process returns to step S103. On the other hand, if it is determined that the end condition of the second assisted operation is satisfied (step S105 / YES), the process proceeds to step S106.

[0065] When the determination result in step S105 is YES, in step S106 , the execution unit 17 b ends the first assistance operation and the second assistance operation, and returns to step S102 .

[0066] As described above, in the first process, the execution unit 17b causes the display unit 31 to display an augmented reality object within the driver 2's field of view during the first assistance action. These augmented reality objects are primarily objects related to the setting information set during the second assistance action. Following an example of the second assistance action, an example of the first assistance action in the first process will be described.

[0067] For example, the second auxiliary action includes an action for adjusting the positional relationship between the saddle-type vehicle 1 and the other vehicle. An example of an action for adjusting the positional relationship is adaptive cruise control. However, the action for adjusting the positional relationship may also be an action other than adaptive cruise control (for example, an action that is not released even when the driver 2 operates the accelerator).

[0068] The start condition of the positional relationship adjustment operation is, for example, an operation to start the operation by the driver 2. The end condition of the positional relationship adjustment operation is, for example, an operation to end the operation by the driver 2.

[0069] Hereinafter, other vehicles that are the subject of positional relationship adjustment in the aforementioned positional relationship adjustment operation (e.g., adaptive cruise control) are also referred to as target vehicles. In adaptive cruise control, the preceding vehicle (in other words, the vehicle traveling in front of the saddle-type vehicle 1) is set as the target vehicle. The acquisition unit 17a can acquire positional relationship information between the saddle-type vehicle 1 and the preceding vehicle based on, for example, the output of the front surrounding environment sensor 13f.

[0070] In adaptive cruise control, for example, a target inter-vehicle distance (i.e., a target inter-vehicle distance) is set between the saddle-type vehicle 1 and the vehicle ahead. The execution unit 17b controls the speed of the saddle-type vehicle 1 so that the inter-vehicle distance between the saddle-type vehicle 1 and the vehicle ahead is maintained at the target inter-vehicle distance. Furthermore, the inter-vehicle distance can refer to the distance along the lane (specifically, the lane in which the saddle-type vehicle 1 is traveling) or the straight-line distance. For example, the acquisition unit 17a acquires the inter-vehicle distance between the saddle-type vehicle 1 and the vehicle ahead as surrounding environment information, and the execution unit 17b can control the speed of the saddle-type vehicle 1 as described above based on the acquired inter-vehicle distance.

[0071] Furthermore, in adaptive cruise control, a target passing time difference (specifically, the time required from the current time point until the saddle-type vehicle 1 passes the current position of the preceding vehicle) is set. The execution unit 17b can control the speed of the saddle-type vehicle 1 so that the passing time difference is maintained at the target passing time difference. For example, the acquisition unit 17a acquires the passing time difference as surrounding environment information, and the execution unit 17b can control the speed of the saddle-type vehicle 1 as described above based on the thus acquired passing time difference.

[0072] In adaptive cruise control, the actuator 17b automatically controls the speed of the saddle-type vehicle 1, independent of acceleration and deceleration operations (in other words, accelerator and brake operations) performed by the driver 2. The actuator 17b can control the speed of the saddle-type vehicle 1 by, for example, controlling the operation of the engine 11 and the hydraulic control unit 12. For example, the actuator 17b can appropriately control the speed of the saddle-type vehicle 1 based on information about the speed of the saddle-type vehicle 1 acquired based on the wheel speeds of the front and rear wheels. Furthermore, adaptive cruise control is disengaged when the driver 2 performs an accelerator operation.

[0073] Furthermore, for example, the second auxiliary action includes an action of issuing a warning based on the possibility of collision. Specifically, the action of issuing the warning is an action of alerting the driver 2 to an object whose collision possibility with the saddle-type vehicle 1 exceeds a certain threshold. Examples of the warning action include a forward collision warning (front collision warning).

[0074] The start condition for the warning operation is, for example, a determination that the execution unit 17b needs to issue the warning. The end condition for the warning operation is, for example, a determination that the need for the warning by the execution unit 17b no longer exists, or a predetermined time has passed since the start of the warning.

[0075] The forward collision warning is an action that warns the driver 2 of the presence or approach of an obstacle such as a vehicle located in front of the riding type vehicle 1. For example, the execution unit 17b determines whether the possibility of collision exceeds a reference based on the distance between the riding type vehicle 1 and the vehicle in front, and the relative speed of the riding type vehicle 1 relative to the vehicle in front. Then, when it is determined that the possibility of collision exceeds the reference, the execution unit 17b warns the driver 2 using a notification device. Examples of the notification device include a display device, a sound output device, or a vibration generating device. The notification device can be mounted on the riding type vehicle 1 or on something worn by the driver 2 (for example, a helmet 3).

[0076] Furthermore, for example, the second auxiliary operation includes an operation related to platooning in which a vehicle group consisting of a plurality of saddle-type vehicles travels in a multi-vehicle column.

[0077] Figure 4 1 is a diagram showing a state in which a vehicle group including a saddle-type vehicle 1 is traveling in a platoon. In the platoon, a vehicle group consisting of a plurality of saddle-type vehicles including the host vehicle 1 travels in a multi-vehicle train. Figure 4 1 and some of the other vehicles 4a, 4b, 4c, and 4d constituting the vehicle group (in other words, saddle-type vehicles other than the own vehicle 1 in the group) are shown.

[0078] like Figure 4 As shown, in platooning, a plurality of saddle-type vehicles travel in two columns, a left column and a right column, in the same lane. Figure 4 In this example, other vehicle 4b and other vehicle 4c form the left column. Other vehicle 4b and other vehicle 4c are arranged in this order from the front. On the other hand, other vehicle 4a, host vehicle 1, and other vehicle 4d form the right column. Other vehicle 4a, host vehicle 1, and other vehicle 4d are arranged in this order from the front in the front-to-back direction.

[0079] In addition, if Figure 4 As shown, in platoon travel, a plurality of riding-type vehicles travel in a configuration in which the riding-type vehicles constituting the left column and the riding-type vehicles constituting the right column are arranged alternately in the front-to-rear direction (in other words, in a zigzag configuration). Figure 4In the example shown in FIG, other vehicles 4a in the right column, other vehicles 4b in the left column, the vehicle 1 in the right column, other vehicles 4c in the left column, and other vehicles 4d in the right column are arranged in this order from the front. Furthermore, during platooning, a plurality of saddle-type vehicles may be arranged in parallel with the saddle-type vehicles in the left column and the saddle-type vehicles in the right column at the same position in the front-to-rear direction (in other words, in a checkerboard arrangement).

[0080] As described above, in platooning with multiple saddle-type vehicles, the vehicles travel in a zigzag configuration. This reduces the distance between the vehicles in the front-to-rear direction compared to when the vehicles travel in a single vehicle line. This also prevents the vehicle line from being disconnected due to traffic lights.

[0081] As an action related to platooning, for example, there is an action to adjust the positional relationship between the vehicle 1 and other vehicles 4 in the group. As such an action, for example, there is an adaptive cruise control in which the other vehicles 4 in the group are set as the front vehicle (in other words, the target vehicle) for which the positional relationship is adjusted. For example, Figure 4 For example, when the other vehicle 4b is set as the target vehicle, during the execution of the adaptive cruise control, the execution unit 17b controls the speed of the host vehicle 1 so that the inter-vehicle distance between the host vehicle 1 and the other vehicle 4b is maintained at the target inter-vehicle distance.

[0082] The start condition for the platooning operation may be, for example, an operation by the driver 2 to start the operation, or may be a state where the plurality of saddle-type vehicles are automatically recognized to be traveling in the above-described configuration based on the surrounding environment information acquired by the saddle-type vehicle 1. Furthermore, the end condition for the platooning operation may be, for example, an operation by the driver 2 to end the operation, or may be a state where the plurality of saddle-type vehicles are automatically recognized to be not traveling in the above-described configuration based on the surrounding environment information acquired by the saddle-type vehicle 1.

[0083] Furthermore, the aforementioned platooning-related actions may include actions other than adjusting the positional relationship between the host vehicle 1 and other vehicles 4 within the group. For example, the aforementioned platooning-related actions may be based on information regarding the positional relationship between the host vehicle 1 and other vehicles outside the group. Such actions may include, for example, notifying other vehicles 4 within the group that a vehicle outside the group is approaching the host vehicle 1.

[0084] Below, refer to Figures 5 to 10 , an example of the first auxiliary action in the first process is described. Figures 5 to 10The diagrams illustrate various examples of displaying an augmented reality object 52 within the driver's field of view 51 during the first process. As described above, in the first assistive action of the first process, the augmented reality object 52, which is an object associated with the setting information set in the second assistive action, is primarily displayed within the driver's field of view 51. However, the augmented reality object 52 does not necessarily need to be an object associated with the setting information set in the second assistive action.

[0085] The technology of displaying an augmented reality object 52 in the visual field 51 is also called augmented reality (AR), which is realized by, for example, the display unit 31 of the helmet 3. In addition, the display position of the augmented reality object 52 in the visual field 51 is adjusted to the object indicated by the augmented reality object 52 (for example, the object described later). Figure 5 Such adjustment can be performed based on, for example, the position information of the aforementioned object obtained by the surrounding environment sensor 13 and the position information of the aforementioned object obtained by a camera (not shown) mounted on the helmet 3 and reflecting the front of the vehicle 1.

[0086] In addition, refer to the following Figures 5 to 10 , an example of a first auxiliary action (in other words, an example of displaying an extended reality object 52 in the field of view 51) is described, wherein the first auxiliary action is performed when a group of vehicles including the vehicle 1 is traveling in a convoy and the adaptive cruise control of other vehicles 4 in the group is set as the target vehicle and is performed as the second auxiliary action.

[0087] However, as described later, the first auxiliary action may be executed without executing the second auxiliary action. In the first auxiliary action, an augmented reality object 52 related to a second auxiliary action of a different type from the executing second auxiliary action may be displayed in the field of view 51 .

[0088] exist Figure 5 In the example shown in FIG. 5 , an augmented reality object 52a is displayed in the field of view 51 of the driver 2. The augmented reality object 52a is a rectangular object surrounding the other vehicle 4b. The augmented reality object 52a may also be a shape other than a rectangle (e.g., a circle or an ellipse).

[0089] For example, the augmented reality object 52a may show a target vehicle in the process of adjusting the positional relationship between the saddle-type vehicle 1 and other vehicles. In this case, for example, Figure 5 In the example of FIG. 5 , the other vehicle 4 b shown by the augmented reality object 52 a is set as a target vehicle in the adaptive cruise control.

[0090] Furthermore, for example, the augmented reality object 52a may also show an object that the driver 2 is warned about by a warning based on the possibility of a collision. In this case, for example, Figure 5 In the example of FIG. 5 , the other vehicle 4 b shown by the augmented reality object 52 a is set as a front vehicle to be warned to the driver 2 by the forward collision warning.

[0091] Furthermore, for example, the augmented reality object 52a may also display a vehicle set as another vehicle 4 in the group. In this case, the augmented reality object 52a may be additionally displayed for not only the other vehicle 4b but also the other vehicle 4a. Information indicating which vehicles are other vehicles 4 in the group is included in the setting information set for the platooning-related operation.

[0092] Furthermore, other vehicles 4 within the group may be obscured by vehicles outside the group and thus not reflected in the field of view 51. In such cases, the execution unit 17b may display an augmented reality object 52a for the other vehicles 4 within the group that are obscured by the vehicles outside the group. For example, through communication between vehicles within the group, the control device 17 can obtain positional information (e.g., information about the relative position of the vehicle 1) for the other vehicles 4 within the group that are obscured by the vehicles outside the group. This allows the augmented reality object 52a to be displayed for the other vehicles 4 within the group that are obscured by the vehicles outside the group.

[0093] exist Figure 6 In the example shown in FIG. 5 , an augmented reality object 52 b is displayed in the field of view 51 of the driver 2 . The augmented reality object 52 b is an arrow-shaped object indicating another vehicle 4 b. The augmented reality object 52 b may be in a shape other than an arrow (e.g., a line segment shape).

[0094] For example, the extended reality object 52b, like the extended reality object 52a described above, can be a target vehicle in an action of adjusting the positional relationship between the riding vehicle 1 and other vehicles, can be an object for warning the driver 2 by means of a warning based on the possibility of a collision, or can be a vehicle set as another vehicle 4 in the group.

[0095] exist Figure 7 In the example shown in FIG. 5 , an augmented reality object 52 c is displayed in the field of view 51 of the driver 2. The augmented reality object 52 c is a line segment object that roughly indicates the position of the saddle-type vehicle 1 on the road on which it is traveling. The augmented reality object 52 c may be a shape other than a line segment (e.g., a point or a rectangle).

[0096] For example, the augmented reality object 52c may show the target positional relationship in the action of adjusting the positional relationship between the riding type vehicle 1 and other vehicles. As the target positional relationship, for example, the target vehicle distance or target passing time difference set in the adaptive cruise control is listed. Figure 7 The augmented reality object 52c displayed behind the other vehicle 4b in FIG. 5 shows, for example, the target vehicle in the adaptive cruise control when the target vehicle is the other vehicle 4b. Figure 7 For example, the augmented reality object 52c displayed behind the other vehicle 4a in the adaptive cruise control display shows the target inter-vehicle distance when the target vehicle is the other vehicle 4a. This augmented reality object 52c provides useful information to the driver 2 when, for example, the inter-vehicle distance between the host vehicle 1 and the target vehicle deviates from the target inter-vehicle distance during adaptive cruise control, or when adaptive cruise control is not being executed.

[0097] Furthermore, for example, the augmented reality object 52c can indicate the location at which the host vehicle 1 is predicted to stop under adaptive cruise control. For example, when a target vehicle (e.g., other vehicle 4a or 4b) in adaptive cruise control decelerates, the host vehicle 1 may also decelerate and eventually stop as the target vehicle decelerates. The location at which the host vehicle 1 is predicted to stop under adaptive cruise control may vary depending on factors such as the target inter-vehicle distance. Therefore, the augmented reality object 52c is included in the objects related to the setting information set for adaptive cruise control.

[0098] exist Figure 8 In the example of FIG, an augmented reality object 52d is displayed in the field of view 51 of the driver 2. The augmented reality object 52d is an object showing the vehicle column to which the target vehicle in the operation of adjusting the positional relationship between the saddle-type vehicle 1 and other vehicles belongs. Figure 8 In the example shown, augmented reality object 52d is displayed at the position indicated by the solid line, indicating the vehicle column to which host vehicle 1 belongs within the group. Therefore, the target vehicle in adaptive cruise control is set to other vehicle 4a. Augmented reality object 52d can be a straight line or a non-linear shape (e.g., an elliptical or polygonal shape).

[0099] and Figure 8 Unlike the example of FIG. 5 , in the case where the target vehicle in the adaptive cruise control is set to the other vehicle 4 b, the augmented reality object 52 d is directed to the vehicle 4 b. Figure 8 The position indicated by the two-dot chain line moves. In this case, the augmented reality object 52d shows a vehicle column within the group to which the host vehicle 1 does not belong. For example, the target vehicle in adaptive cruise control switches between another vehicle 4a and another vehicle 4b due to an operation performed by the driver 2.

[0100] exist Figure 9 In the example of , an augmented reality object 52e is displayed in the field of view 51 of the driver 2. The augmented reality object 52e is an object showing an area where the rear vehicle (in other words, the vehicle traveling behind the saddle-type vehicle 1) is expected to pass. Figure 9 In the example shown in FIG. 5 , the augmented reality object 52 e includes hatching in addition to the outer frame of the region, but the hatching may be omitted.

[0101] For example, the acquisition unit 17a can acquire positional relationship information between the host vehicle 1 and the vehicle behind it based on the output of the rear surrounding environment sensor 13r. The execution unit 17b can then determine whether the vehicle behind it has passed the host vehicle 1 based on this positional relationship information. If the vehicle behind it has passed the host vehicle 1, the execution unit 17b can display an augmented reality object 52e within the field of view 51. Furthermore, the execution unit 17b can execute an action as a second auxiliary action to notify the driver 2 of the vehicle behind it that has passed the host vehicle 1. In this case, the augmented reality object 52e can correspond to an object associated with the setting information for such an action.

[0102] exist Figure 10 In the example of FIG, an augmented reality object 52f is displayed in the field of view 51 of the driver 2. The augmented reality object 52f is an object showing an area that is predicted to be passed by the host vehicle 1. Figure 10 In the example, the extended reality object 52f is an object showing two straight lines with a width corresponding to the width of the vehicle 1 (specifically, a width substantially the same as the width of the vehicle 1). The left straight line extended reality object 52f corresponds to the trajectory predicted to be passed by the left end of the vehicle 1, and the right straight line extended reality object 52f corresponds to the trajectory predicted to be passed by the right end of the vehicle 1. However, the extended reality object 52f is not limited to Figure 10 For example, it may be a strip-shaped object having a width corresponding to the width of the vehicle 1 (for example, Figure 10 In addition, the width of the augmented reality object 52f may be set by adding the width of an item carried by the vehicle 1 (for example, a box carried at the rear of the vehicle 1).

[0103] Furthermore, the execution unit 17b may display an augmented reality object 52f within the field of view 51 if it determines that the saddle-type vehicle 1 is weaving (so-called lane splitting). Weaving is a state in which the saddle-type vehicle 1 is traveling on the lane boundary between two adjacent lanes. For example, if the distance in the lane width direction between the saddle-type vehicle 1 and the lane boundary is shorter than a reference distance, the execution unit 17b determines that the saddle-type vehicle 1 is weaving.

[0104] As described above, in the first process, the execution unit 17b causes the display unit 31 to display the augmented reality object 52 within the field of view 51 of the driver 2 based on the surrounding environment information of the saddle-type vehicle 1 in the first assistance action. This allows the driver 2 to appropriately drive the saddle-type vehicle 1 using the information obtained from the augmented reality object 52 displayed within the field of view 51. Thus, the first process enables the driver 2 of the saddle-type vehicle 1 to be appropriately assisted in driving.

[0105] Reference above Figures 5 to 10 Examples of the extended reality object 52 have been described above. However, the extended reality object 52 is not limited to the above examples. For example, the extended reality object 52 may be an object that depicts an obstacle on the road (e.g., a hole, a rock, or an animal). For example, the control device 17 may acquire the positional information of the obstacle on the road by communicating with infrastructure equipment, etc. The execution unit 17b may display the extended reality object 52 depicting the obstacle within the field of view 51 based on the positional information of the obstacle on the road.

[0106] In addition, the above reference Figure 3 An example of the flow of the first process is described. However, the first process is not limited to Figure 3 For example. In the above example, for example, a first auxiliary action (in other words, an action of displaying an extended reality object 52 in the field of view 51 of the driver 2) is executed during the execution of a second auxiliary action (in other words, a driver auxiliary action based on positional relationship information between the riding vehicle 1 and the object). However, the above-mentioned first auxiliary action may be executed without the second auxiliary action being executed. In addition, the execution unit 17b may also display, in the first auxiliary action, an extended reality object 52 related to a second auxiliary action of a different type from the second auxiliary action being executed in the field of view 51.

[0107] Figure 11 This is a flowchart showing an example of the flow of the second process performed by the control device 17 . Figure 11 Step S201 in Figure 11 In the second process, Figure 11 The entire flowchart corresponds to the first auxiliary action.

[0108] like Figure 11The control flow shown in FIG. 1 is initiated. In step S202, the execution unit 17b determines whether the surrounding environment information satisfies the execution condition. As will be described later, if the aforementioned execution condition is satisfied, the display of a video reflecting the rear of the saddle-type vehicle 1 is executed (specifically, the display of the video captured by the camera 32 on the display unit 31). In other words, the aforementioned execution condition corresponds to the condition for executing the display of a video reflecting the rear of the saddle-type vehicle 1.

[0109] For example, the execution condition may be that, during platooning, the inter-vehicle distance between the saddle-type vehicle 1 and another vehicle 4 in the group located behind the saddle-type vehicle 1 is longer than a reference distance. The acquisition unit 17a may acquire the inter-vehicle distance to the other vehicle 4 in the group located behind the saddle-type vehicle 1 as the rear surrounding environment information of the saddle-type vehicle 1 based on the output of the rear surrounding environment sensor 13r, for example.

[0110] The reference distance is set, for example, to a distance long enough to allow the driver 2 to notice the presence of another vehicle 4 positioned to the rear of the saddle-type vehicle 1. If the distance between the saddle-type vehicle 1 and another vehicle 4 in the group positioned to the rear of the saddle-type vehicle 1 is longer than the reference distance, the driver 2 may notice the presence of the other vehicle 4 positioned to the rear of the saddle-type vehicle 1. Therefore, in such a situation, by displaying a video reflecting the rear of the saddle-type vehicle 1 to the driver 2, the driver 2 can confirm the situation behind the saddle-type vehicle 1.

[0111] Furthermore, the execution unit 17b may determine whether the driver 2 is likely to have noticed the presence of the other vehicle 4 located behind the saddle-type vehicle 1 based on the relative speed or relative acceleration of the saddle-type vehicle 1 relative to the other vehicle 4 in the group located behind the saddle-type vehicle 1. In other words, the execution unit 17b may display a video reflecting the rear of the saddle-type vehicle 1 based on the relative speed or relative acceleration of the saddle-type vehicle 1 relative to the other vehicle 4 in the group located behind the saddle-type vehicle 1.

[0112] Furthermore, for example, the execution condition described above may be that the positional relationship information between the saddle-type vehicle 1 and the vehicle behind it indicates that the absolute value of the relative speed of the vehicle behind it relative to the saddle-type vehicle 1 is lower than a reference speed. The acquisition unit 17a can, for example, acquire the positional relationship information as the surrounding environment information behind the saddle-type vehicle 1 based on the output of the rear surrounding environment sensor 13r. The reference speed is, for example, a speed near 0 km / h. When the absolute value of the relative speed is lower than the reference speed, the vehicle behind it is traveling while maintaining a substantially constant distance from the saddle-type vehicle 1. In such a case, from the perspective of improving safety, it is preferable to display a video reflecting the rear of the saddle-type vehicle 1 to the driver 2.

[0113] Furthermore, the execution condition described above may be that the positional relationship information indicates that the absolute value of the rear vehicle's relative speed relative to the saddle-type vehicle 1 is lower than a reference speed, and that the inter-vehicle distance or passing time difference between the saddle-type vehicle 1 and the rear vehicle is shorter than a reference value. When the absolute value of the relative speed is lower than the reference speed, and the inter-vehicle distance or passing time difference is shorter than the reference value, the rear vehicle is traveling relatively close to the saddle-type vehicle 1 while maintaining a substantially constant inter-vehicle distance from the saddle-type vehicle 1. In such a situation, the need to enhance safety by displaying a video reflecting the rear of the saddle-type vehicle 1 to the driver 2 is particularly high.

[0114] If it is determined that the execution condition is met (step S202 / YES), the process proceeds to step S203. In step S203, the execution unit 17b causes the display unit 31 to display a video image reflecting the rear of the saddle-type vehicle 1. Specifically, the execution unit 17b causes the display unit 31 to display the video image captured by the camera 32. On the other hand, if it is determined that the execution condition is not met (step S202 / NO), the process proceeds to step S204. In step S204, the execution unit 17b stops the display unit 31 from displaying the video image reflecting the rear of the saddle-type vehicle 1. In the next step after step S203 or step S204, the process returns to step S202.

[0115] As described above, in the second process, the execution unit 17b changes the degree of restriction of the display of the video reflecting the rear of the saddle-type vehicle 1 on the display unit 31 during the first assistance action based on the surrounding environment information of the saddle-type vehicle 1. This allows the driver 2 to appropriately drive the saddle-type vehicle 1 using the information obtained from the video reflecting the rear of the saddle-type vehicle 1. Thus, the second process enables the driver 2 of the saddle-type vehicle 1 to appropriately assist in driving.

[0116] In the above example, starting or stopping the display of the video image behind the saddle-type vehicle 1 corresponds to an example of changing the degree of restriction of the display of the video image behind the saddle-type vehicle 1. However, changing the degree of restriction of the display of the video image behind the saddle-type vehicle 1 may also mean changing the perceptibility of the display of the video image behind the saddle-type vehicle 1. For example, if the determination in step S202 is NO, the display of the video image behind the saddle-type vehicle 1 may not be stopped, but the perceptibility of the display may be reduced compared to the determination in step S202 of YES. Reducing the perceptibility of the display means making the display less perceptible to the driver 2 (in other words, making it difficult to recognize), and this may include, for example, reducing the display range or lowering the display brightness. Alternatively, changing the perceptibility of the display may be achieved by changing the color of the display.

[0117] In addition, the above description describes an example in which the surrounding environment information behind the saddle-type vehicle 1 is used as the surrounding environment information. However, surrounding environment information other than the surrounding environment information behind the saddle-type vehicle 1 (for example, surrounding environment information in front of or to the sides of the saddle-type vehicle 1) may be used as the surrounding environment information.

[0118] Furthermore, in the first auxiliary action, the execution unit 17b may change the degree of restriction of the display of the video reflecting the rear of the saddle-type vehicle 1 on the display unit 31 based on the behavior information of the saddle-type vehicle 1 in addition to the surrounding environment information of the saddle-type vehicle 1. The behavior information may include various information related to the behavior of the saddle-type vehicle 1.

[0119] For example, step S202 may be executed when a rear vehicle is detected and the speed of the saddle-type vehicle 1 is below a reference speed. The acquisition unit 17a can acquire the speed of the saddle-type vehicle 1 as the behavior information of the saddle-type vehicle 1 based on the outputs of the front wheel speed sensor 14 and the rear wheel speed sensor 15, for example. The reference speed is, for example, a speed around 0 km / h. For example, when the saddle-type vehicle 1 is stopped, the speed of the saddle-type vehicle 1 is below the reference speed. In such a situation, to prevent the saddle-type vehicle 1 from being rear-ended by the rear vehicle, it is preferable to display a video reflecting the rear of the saddle-type vehicle 1 to the driver 2.

[0120] Furthermore, for example, the execution condition for step S202 may be that a rear vehicle is detected and the saddle-type vehicle 1 is weaving. The acquisition unit 17a can acquire information indicating whether the saddle-type vehicle 1 is weaving as the behavior information of the saddle-type vehicle 1 based on, for example, the travel position information of the saddle-type vehicle 1 acquired from a navigation device. When a rear vehicle is detected and the saddle-type vehicle 1 is weaving, it is preferable to display a video reflecting the rear of the saddle-type vehicle 1 to the driver 2 from the perspective of improving safety.

[0121] In addition, in the above description Figure 11 In the flowchart, after the display of the video reflecting the rear of the saddle-type vehicle 1 begins, if the determination in step S202 is NO, the display is stopped. However, the display may be stopped when a predetermined time has passed after the display of the video reflecting the rear of the saddle-type vehicle 1 begins.

[0122] In the above description, the example in which the display unit displaying the video reflecting the rear of the saddle-ride type vehicle 1 is the display unit 31 is described. However, the display unit displaying the video may be a display unit other than the display unit 31. For example, the display unit displaying the video may be a display unit mounted on the saddle-ride type vehicle 1.

[0123] Figure 12 This is a flowchart showing an example of the flow of the third process performed by the control device 17 . Figure 12 Step S301 in Figure 12 The start of the control flow shown corresponds to the following. In the third process, Figure 12 The entire flowchart corresponds to the first auxiliary action.

[0124] like Figure 12 When the control flow shown is started, in step S302 , the execution unit 17 b determines whether the saddle-ride type vehicle 1 is turning.

[0125] For example, the execution unit 17b determines whether the saddle-ride type vehicle 1 is turning based on the lean angle of the saddle-ride type vehicle 1. The lean angle of the saddle-ride type vehicle 1 can be acquired based on, for example, the detection result of the inertial measurement device 16. The execution unit 17b determines that the saddle-ride type vehicle 1 is turning if, for example, the lean angle of the saddle-ride type vehicle 1 is greater than a reference value.

[0126] The above description describes an example in which the determination in step S302 is performed based on the tilt angle of the saddle-type vehicle 1. However, the determination in step S302 may be performed based on information other than the tilt angle of the saddle-type vehicle 1. For example, the execution unit 17b may determine whether the saddle-type vehicle 1 is turning based on information related to the posture of the saddle-type vehicle 1 other than the tilt angle (e.g., information on lateral acceleration, information on yaw angular velocity, information on steering angle, etc.). Furthermore, for example, the execution unit 17b may determine whether the saddle-type vehicle 1 is turning based on information other than the posture of the saddle-type vehicle 1 (e.g., map information obtained from a navigation device, etc.).

[0127] As described later, Figure 12 In the flowchart, the display on the display unit 31 is executed when the saddle-type vehicle 1 is not turning, and the display on the display unit 31 is stopped when the saddle-type vehicle 1 is turning. Here, examples of the display content on the display unit 31 are described. However, the display content on the display unit 31 is not limited to the following examples, and other display content may be displayed.

[0128] For example, the display unit 31 may display information about adaptive cruise control settings. Examples of this information include target inter-vehicle distance, target passing time difference, or target vehicle. Furthermore, the display unit 31 may display a warning based on the possibility of a collision. Furthermore, the display unit 31 may display a video showing the rear of the saddle-type vehicle 1. Furthermore, the display unit 31 may display information about the behavior of the saddle-type vehicle 1. Examples of this information include the speed or bank angle of the saddle-type vehicle 1.

[0129] If it is determined that the saddle-type vehicle 1 is not turning (step S302 / NO), the process proceeds to step S303. In step S303, the execution unit 17b executes the display on the display unit 31. On the other hand, if it is determined that the saddle-type vehicle 1 is turning (step S302 / YES), the process proceeds to step S304. In step S304, the execution unit 17b stops the display on the display unit 31. After step S303 or step S304, the process returns to step S302.

[0130] As described above, in the third process, the execution unit 17b changes the display on the display unit 31 during the first assistance operation depending on whether the saddle-type vehicle 1 is turning. Specifically, in the first assistance operation, the execution unit 17b limits the display on the display unit 31 when the saddle-type vehicle 1 is turning, compared to when the saddle-type vehicle 1 is not turning. This allows the driver 2 to focus on driving without being distracted by the display on the display unit 31 when the saddle-type vehicle 1 is turning. Thus, the third process appropriately assists the driver 2 of the saddle-type vehicle 1 in driving.

[0131] In addition, in the above example, stopping the display performed by the display unit 31 is equivalent to an example of limiting the display performed by the display unit 31. However, limiting the display performed by the display unit 31 may also be to reduce the perceptibility of the display performed by the display unit 31. For example, in the case where step S302 is determined to be YES, the display performed by the display unit 31 is not stopped, and the perceptibility of the display may be reduced compared to the case where step S302 is determined to be NO. Reducing the perceptibility of the display is to make the display difficult for the driver 2 to perceive (in other words, to make it difficult to recognize), for example, including reducing the display range of the display, or reducing the display brightness, etc. In addition, changing the perceptibility of the display may also be achieved by changing the color of the display.

[0132] In addition, the above description describes an example in which the display unit that displays the restricted objects depending on whether the saddle-type vehicle 1 is turning is the display unit 31. However, the display unit that displays the restricted objects may be a display unit other than the display unit 31. For example, in the first auxiliary action, the execution unit 17b may restrict the display of the display unit 21 when the saddle-type vehicle 1 is turning compared to when the saddle-type vehicle 1 is not turning. Alternatively, the execution unit 17b may restrict the display of a display unit other than the display units 21 and 31 (e.g., a display unit mounted on the saddle-type vehicle 1).

[0133] Figure 13 This is a flowchart showing an example of the flow of the fourth process performed by the control device 17 . Figure 13 Step S401 in Figure 13 The start of the control flow shown corresponds to the following. In the fourth process, Figure 13 The entire flowchart corresponds to the first auxiliary action.

[0134] like Figure 13 The control flow shown in FIG. 1 is started, and in step S402, the execution unit 17b determines whether the saddle-type vehicle 1 is turning. The processing of step S402 is the same as that of the above-mentioned Figure 12 The processing of step S302 in is the same.

[0135] As described later, Figure 13 In the flowchart, when the saddle-type vehicle 1 is turning, the display position on the display unit 21 changes compared to when the saddle-type vehicle 1 is not turning. Here, examples of display content on the display unit 21 are described. However, the display content on the display unit 21 is not limited to the following examples and may also be other than the following examples.

[0136] For example, the display on the display unit 21 is used to notify the driver 2 that a rear vehicle is approaching the saddle-type vehicle 1 or that a rear vehicle exists. For example, the execution unit 17b can obtain positional relationship information between the saddle-type vehicle 1 and the rear vehicle based on the output of the rear surrounding environment sensor 13r. The execution unit 17b can then determine whether a rear vehicle is approaching the saddle-type vehicle 1 and whether a rear vehicle exists based on the positional relationship information between the driver 1 and the rear vehicle. If it is determined that a rear vehicle is approaching the saddle-type vehicle 1 or that a rear vehicle exists, the execution unit 17b, for example, intermittently illuminates or extinguishes the display unit 21.

[0137] If it is determined that the saddle-type vehicle 1 is not turning (step S402 / NO), the process proceeds to step S403. In step S403, the execution unit 17b sets the display position of the display unit 21 to the reference position. As described above, the display unit 21 includes display elements provided on each of the left and right gloves. The reference position, for example, is a position including both left and right display elements. In this case, when the saddle-type vehicle 1 is not turning, both the display unit 21 provided on the left glove and the display unit 21 provided on the right glove display.

[0138] On the other hand, if it is determined that the saddle-type vehicle 1 is turning (step S402 / YES), the process proceeds to step S404. In step S404, the execution unit 17b changes the display position of the display unit 21 relative to the reference position. For example, the execution unit 17b changes the display of the display unit 21 to the turning direction, with the center position of the saddle-type vehicle 1 in the vehicle width direction as a reference. In this case, when the saddle-type vehicle 1 turns left, only the display unit 21 provided on the left glove displays. When the saddle-type vehicle 1 turns right, only the display unit 21 provided on the right glove displays.

[0139] The next step of step S403 or step S404 is to return to step S402.

[0140] As described above, in the fourth process, the execution unit 17b changes the display on the display unit 21 during the first assistance action, depending on whether the saddle-type vehicle 1 is turning. Specifically, in the first assistance action, the execution unit 17b changes the position of the display on the display unit 21 when the saddle-type vehicle 1 is turning, compared to when the saddle-type vehicle 1 is not turning. Thus, when the saddle-type vehicle 1 is turning, the position of the display on the display unit 21 can be changed according to the direction the driver 2 is facing. This makes it easier for the driver 2 to recognize the display on the display unit 21 when the saddle-type vehicle 1 is turning. Thus, according to the fourth process, the driving of the saddle-type vehicle 1 by the driver 2 can be appropriately assisted.

[0141] In the above description, the display unit 21 is used as the target display unit whose display position is changed depending on whether the saddle-ride type vehicle 1 is turning. However, the target display unit whose display position is changed may be a display unit other than the display unit 21.

[0142] For example, in the first auxiliary action, the execution unit 17b can change the display position of the display unit 31 when the riding type vehicle 1 is turning, compared with the case where the riding type vehicle 1 is not turning, and can also change the display position of a display unit other than the display units 21 and 31 (for example, a display unit mounted on the riding type vehicle 1).

[0143] Furthermore, for example, the display unit 21 is provided on an accessory (in other words, a glove) worn on the hand of the driver 2 at a location other than the head, but the display unit whose display position is changed may also be provided on an accessory worn at a location other than the hand of the driver 2 at a location other than the head. Furthermore, for example, the display unit 21 is provided on an accessory worn at a location other than the head of the driver 2, but the display unit whose display position is changed may also be a display unit that projects an image onto the accessory or onto the skin of the driver 2.

[0144] <Effects of control devices>

[0145] The effects of the control device 17 according to the embodiment of the present invention will be described.

[0146] The control device 17 includes an execution unit 17b for executing a driver-assisting action that assists the driver 2 in driving. The execution unit 17b executes a first assisting action that assists the driver 2 in driving by means of a display on a display unit (e.g., the display unit 21 or the display unit 31). This allows information to be appropriately presented to the driver 2. Therefore, the driver 2 of the saddle-type vehicle 1 can be appropriately assisted in driving.

[0147] Preferably, in the control device 17, the execution unit 17b causes the display unit (e.g., the display unit 31) to display an augmented reality object 52 within the field of view 51 of the driver 2 based on the surrounding environment information of the saddle-type vehicle 1 during the first assistance operation. This allows the driver 2 to appropriately drive the saddle-type vehicle 1 using the information obtained from the augmented reality object 52 displayed within the field of view 51. Consequently, the driver 2 can more appropriately assist in driving the saddle-type vehicle 1.

[0148] Preferably, in control device 17, surrounding environment information is positional relationship information between saddle-type vehicle 1 and an object, execution unit 17b executes a second auxiliary action, a driver-assisted action different from the first auxiliary action, based on the positional relationship information, and augmented reality object 52 is an object associated with setting information set for the second auxiliary action. Thus, driver 2 can appropriately apply the second auxiliary action using information obtained from augmented reality object 52 displayed within field of view 51.

[0149] Preferably, the second auxiliary action in the control device 17 includes an action for adjusting the positional relationship between the saddle-type vehicle 1 and another vehicle (e.g., the other vehicle 4). By displaying an augmented reality object 52 related to the setting information set in such an action in the field of view 51, the driver 2 can appropriately apply the action.

[0150] Preferably, the second auxiliary action includes issuing a warning based on the possibility of a collision in the control device 17. By displaying an augmented reality object 52 related to the setting information set in such an action in the field of view 51, the driver 2 can appropriately apply the action.

[0151] Preferably, the second auxiliary action in the control device 17 includes an action related to platooning, in which a group of saddle-type vehicles travels in a multi-vehicle column. By displaying an augmented reality object 52 related to the setting information set for such an action within the field of view 51, the driver 2 can appropriately apply the action.

[0152] Preferably, in the control device 17, the execution unit 17b changes the degree of restriction of the display of the video image reflecting the rear of the saddle-type vehicle 1 on the display unit (e.g., the display unit 31) based on the surrounding environment information of the saddle-type vehicle 1 during the first assistance operation. This allows the driver 2 to appropriately drive the saddle-type vehicle 1 using the information obtained from the video image reflecting the rear of the saddle-type vehicle 1. Consequently, the driver 2 of the saddle-type vehicle 1 can be more appropriately assisted in driving the saddle-type vehicle 1.

[0153] Preferably, in the control device 17 , the surrounding environment information is surrounding environment information behind the saddle-ride type vehicle 1 . This allows the degree of limitation of the display of the video reflecting the rear of the saddle-ride type vehicle 1 to be appropriately changed according to the situation behind the saddle-ride type vehicle 1 .

[0154] Preferably, in the control device 17, the execution unit 17b changes the degree of restriction during the first auxiliary operation based on the behavior information of the saddle-type vehicle 1. This allows the degree of restriction of the display of the video reflecting the rear of the saddle-type vehicle 1 to be more appropriately changed, taking into account the behavior information of the saddle-type vehicle 1.

[0155] Preferably, in the control device 17, the execution unit 17b changes the display on the display unit (e.g., the display unit 21 or the display unit 31) during the first assistance operation, depending on whether the saddle-type vehicle 1 is turning. This allows the driver 2 to rationalize the display on the display unit when the saddle-type vehicle 1 is turning. Consequently, the driver 2 of the saddle-type vehicle 1 can be more appropriately assisted in driving.

[0156] Preferably, in the control device 17, the execution unit 17b, during the first assist operation, limits the display displayed by the display unit (e.g., the display unit 21 or the display unit 31) when the saddle-type vehicle 1 is turning, compared to when the saddle-type vehicle 1 is not turning. This allows the driver 2 to concentrate on driving without being distracted by the display displayed by the display unit when the saddle-type vehicle 1 is turning. Consequently, the driver 2 of the saddle-type vehicle 1 can be more appropriately assisted in driving.

[0157] Preferably, in the control device 17, the execution unit 17b changes the display position on the display unit (e.g., the display unit 21 or the display unit 31) during the first assist operation when the saddle-type vehicle 1 is turning, compared to when the saddle-type vehicle 1 is not turning. Thus, when the saddle-type vehicle 1 is turning, the display position on the display unit can be changed according to the direction the driver 2 is facing. This makes it easier for the driver 2 to recognize the display on the display unit when the saddle-type vehicle 1 is turning. Consequently, the driver 2 can more appropriately assist the driver 2 in driving the saddle-type vehicle 1.

[0158] Preferably, in the control device 17, the execution unit 17b causes the display on the display unit (e.g., the display unit 21 or the display unit 31) to be positioned toward the turning direction relative to the center position of the saddle-type vehicle 1 in the vehicle width direction during the first assist operation when the saddle-type vehicle 1 is turning. Thus, when the saddle-type vehicle 1 is turning, the display position on the display unit can be appropriately changed according to the direction in which the driver 2 is facing. Therefore, when the saddle-type vehicle 1 is turning, the display on the display unit can be appropriately made easy for the driver 2 to recognize.

[0159] Preferably, in the control device 17, the display unit (e.g., the display unit 21) is provided on an item worn other than the head of the driver 2, or an image is projected onto the item worn or onto the skin of the driver 2. Thus, in a saddle-type vehicle 1 where the mounting space for the device is limited, for example, the display area can be expanded compared to a case where a display unit mounted on the saddle-type vehicle 1 is used, and the driver 2 can easily recognize the display displayed by the display unit.

[0160] The present invention is not limited to the description of the embodiment, and for example, only a part of the embodiment may be implemented.

[0161] In addition, the first process, the second process, the third process, and the fourth process have been described above as examples of the process related to the first auxiliary operation. However, all of these processes may be performed, or only some of them may be performed.

[0162] Description of Reference Numerals

[0163] 1 Riding vehicle, 2 Driver, 3 Helmet, 4 Other vehicles, 4a Other vehicles, 4b Other vehicles, 4c Other vehicles, 4d Other vehicles, 10 Driver assistance system, 11 Engine, 12 Hydraulic control unit, 13 Surrounding environment sensor, 13f Front surrounding environment sensor, 13r Rear surrounding environment sensor, 14 Front wheel speed sensor, 15 Rear wheel speed sensor, 16 Inertial measurement unit, 17 Control device, 17a Acquisition unit, 17b Execution unit, 21 Display unit, 31 Display unit, 32 Camera, 51 Field of view, 52 Augmented reality object, 52a Augmented reality object, 52b Augmented reality object, 52c Augmented reality object, 52d Augmented reality object, 52e Augmented reality object, 52f Augmented reality object.

Claims

1. A control device, being a control device (17) of a driver assistance system (10) for assisting a driver (2) of a saddle-type vehicle (1), wherein the control device is characterized in that: An execution unit (17b) is provided, wherein the execution unit (17b) executes a driver assistance action for assisting the driving performed by the driver (2), The execution unit (17b) executes a first assist action, which is the driver assist action for assisting the driving of the driver (2) by means of a display on a display unit (21, 31).

2. The control device according to claim 1, characterized in that The execution unit (17b) executes the display unit (31) to display an augmented reality object (52) within the field of view (51) of the driver (2) based on the surrounding environment information of the riding type vehicle (1) in the first auxiliary action.

3. The control device according to claim 2, characterized in that The surrounding environment information is information on the positional relationship between the riding type vehicle (1) and the object. The execution unit (17b) executes a second assist action as the driver assist action different from the first assist action based on the positional relationship information, The augmented reality object (52) is an object related to the setting information set in the second auxiliary action.

4. The control device according to claim 3, characterized in that The second auxiliary action includes an action of adjusting the positional relationship between the riding type vehicle (1) and another vehicle (4).

5. The control device according to claim 3, characterized in that The second auxiliary action includes an action of issuing a warning based on the possibility of a collision.

6. The control device according to any one of claims 3 to 5, characterized in that: The second auxiliary operation includes an operation related to platooning in which a vehicle group consisting of a plurality of saddle-type vehicles travels in a multi-vehicle column.

7. The control device according to claim 1, characterized in that The execution unit (17b) changes the degree of limitation of the display of the video reflecting the rear of the saddle-type vehicle (1) by the display unit (31) based on the surrounding environment information of the saddle-type vehicle (1) in the first auxiliary action.

8. The control device according to claim 7, characterized in that: The surrounding environment information is surrounding environment information behind the saddle-type vehicle (1).

9. The control device according to claim 7 or 8, characterized in that: The execution unit (17b) changes the degree of restriction in the first auxiliary action based on the behavior information of the saddle-type vehicle (1).

10. The control device according to claim 1, characterized in that The execution unit (17b) changes the display on the display unit (21, 31) according to whether the saddle-type vehicle (1) is turning during the first auxiliary action.

11. The control device according to claim 10, characterized in that: The execution unit (17b) limits the display by the display unit (21, 31) when the saddle-type vehicle (1) is turning in the first auxiliary action, compared to when the saddle-type vehicle (1) is not turning.

12. The control device according to claim 10 or 11, characterized in that: The execution unit (17b) changes the display position of the display unit (21, 31) when the saddle-type vehicle (1) is turning in the first auxiliary action, compared with when the saddle-type vehicle (1) is not turning.

13. The control device according to claim 12, characterized in that: In the first auxiliary action, when the saddle-type vehicle (1) is turning, the execution unit (17b) causes the display by the display unit (21, 31) to be located on the steering direction side with the center position of the saddle-type vehicle (1) in the vehicle width direction as a reference.

14. The control device according to claim 1, characterized in that The display unit (21) is provided on an object worn other than the head of the driver (2), or projects an image onto the object worn or the skin of the driver (2).

15. A control method for a driver assistance system (10) for assisting a driver (2) of a riding type vehicle (1), characterized in that: The execution unit (17b) of the control device (17) executes a driver assistance action to assist the driving performed by the driver (2), The execution unit (17b) executes a first assist action, which is the driver assist action for assisting the driving of the driver (2) by means of a display on a display unit (21, 31).

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