Control device and control method

Abstract

This invention provides a control device and a control method. The control device executes a control mode in which a positional adjustment action is performed to adjust the positional relationship between a motorcycle equipped with a camera and a preceding vehicle to a target positional relationship. In this control mode, the stability of the motorcycle's movement and the safety of the motorcycle rider are improved. The control device includes an execution unit for executing the control mode, which performs the positional adjustment action to adjust the positional relationship between the motorcycle and the preceding vehicle to a target positional relationship. The preceding vehicle is detected by a camera mounted on the motorcycle. Furthermore, in the control mode, the execution unit predicts a sudden change in the light intensity of the surrounding environment of the motorcycle based on information about the road environment ahead of the motorcycle. If the sudden change is predicted, a safety action is performed for the motorcycle rider.

Description

Technical Field

[0001] This disclosure relates to a control device and control method for controlling the movement of a motorcycle. Background Technology

[0002] Previously, technologies were known to assist riders in driving riding vehicles such as motorcycles. For example, Patent Document 1 discloses a rider assistance system that warns a motorcycle rider of inappropriately approaching an obstacle based on information detected by a sensor device that detects obstacles in or substantially in the direction of travel.

[0003] Existing technical documents Patent documents Patent document 1: Japanese Patent Application Publication No. 2009-116882. Summary of the Invention

[0004] The problem that the invention aims to solve Because motorcycles have fewer wheels supporting the vehicle and the distance between the wheels is shorter than that of a four-wheeled vehicle, they experience greater tilting and pitching. Therefore, if a motorcycle decelerates suddenly, the stability of the motorcycle and the safety of the rider may decrease compared to four-wheeled vehicles such as cars.

[0005] Incidentally, as a technology for assisting motorcycle driving, there is a positional adjustment mechanism that adjusts the positional relationship between the vehicle and a preceding vehicle to a target positional relationship by automatically accelerating or decelerating the vehicle. Here, from the viewpoints of design, cost, and installation location within the motorcycle, a camera is sometimes used as the ambient environment sensor for detecting the preceding vehicle in the control mode used to perform the positional adjustment mechanism. In this case, it is conceivable that during motorcycle operation, if the ambient light level changes drastically (e.g., when the motorcycle moves from a brighter area to a darker area), there will be a delay in acquiring the ambient information from the camera immediately after the sudden change in light level. This is because a predetermined time (e.g., a few milliseconds to a few seconds) is spent adapting the camera's field of view to the sudden change in light level.

[0006] In cases where the acquisition of ambient information by the aforementioned camera is delayed, for example, it is necessary to consider the detection delay of leading vehicles after a sudden change in ambient light levels, and the positional relationship between the motorcycle and the leading vehicle becoming closer to that before the sudden change, in the event of a sudden deceleration of the motorcycle. Furthermore, it is necessary to consider the possibility that the stability of the motorcycle's movement and the safety of the rider may decrease due to the sudden deceleration.

[0007] This invention was made against the background described above, and its object is to provide a control device that executes a control mode in which a positional adjustment action is performed to adjust the positional relationship between a motorcycle equipped with a camera and a preceding vehicle to a target positional relationship. In this control mode, the stability of the motorcycle's movement and the safety of the rider are improved. Furthermore, another object of this invention is to provide a control method that executes a control mode in which a positional adjustment action is performed to adjust the positional relationship between a motorcycle equipped with a camera and a preceding vehicle to a target positional relationship. In this control mode, the stability of the motorcycle's movement and the safety of the rider are improved.

[0008] The control device of the present invention for solving the above-mentioned problems is a control device (16) for controlling the movement of a motorcycle (1), and includes an execution unit (16b) for executing a control mode. The control mode executes a positional relationship adjustment action by automatically accelerating or decelerating the motorcycle (1) to adjust the positional relationship between the motorcycle (1) and the preceding vehicle (4) of the motorcycle (1) to a target positional relationship. In the control mode, the preceding vehicle (4) is detected by a camera (14) mounted on the motorcycle (1). Furthermore, in the control mode, the execution unit (16b) determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle (1) is predicted based on the road environment information in front of the motorcycle (1). If the sudden change is predicted, a safety action is performed for the rider of the motorcycle (1).

[0009] Furthermore, the control method of the present invention for solving the above-mentioned problem is a control method for controlling the movement of a motorcycle (1). The execution unit (16b) of the control device (16) executes a control mode, which performs a positional relationship adjustment action by automatically accelerating or decelerating the motorcycle (1) to adjust the positional relationship between the motorcycle (1) and the preceding vehicle (4) of the motorcycle (1) to a target positional relationship. In the aforementioned control mode, the preceding vehicle (4) is detected by a camera (14) mounted on the motorcycle (1). Furthermore, in the aforementioned control mode, the execution unit (16b) determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle (1) is predicted based on the road environment information in front of the motorcycle (1). If the sudden change is predicted, a safety action is performed for the rider of the motorcycle (1).

[0010] Invention Effects According to the present invention, a control device is provided that executes a control mode in which a positional adjustment action is performed to adjust the positional relationship between a motorcycle equipped with a camera and a preceding vehicle to a target positional relationship. In this control mode, the stability of the motorcycle's movement and the safety of the rider are improved. Furthermore, according to the present invention, a control method is provided that executes a control mode in which a positional adjustment action is performed to adjust the positional relationship between a motorcycle equipped with a camera and a preceding vehicle to a target positional relationship. In this control mode, the stability of the motorcycle's movement and the safety of the rider are improved. Attached Figure Description

[0011] Figure 1 This is a schematic diagram illustrating a general structure of a motorcycle.

[0012] Figure 2 This is a block diagram illustrating an example of the functional structure of a control device.

[0013] Figure 3 This is a diagram illustrating the state of a motorcycle traveling behind a vehicle that is traveling ahead of it.

[0014] Figure 4 This is a schematic diagram illustrating an example of a motorcycle entering a road with lower ambient light levels from a road with higher ambient light levels.

[0015] Figure 5 This is a schematic diagram illustrating an example of a motorcycle entering a road with lower ambient light levels after traveling on a road with higher ambient light levels.

[0016] Figure 6 This is a flowchart illustrating an example of the processing flow (control flow) performed by the control device during the execution of a control mode that adjusts the positional relationship between the motorcycle and the preceding vehicle to a target positional relationship.

[0017] Figure 7 This is a diagram illustrating a situation where there is a tunnel entrance in front of a motorcycle.

[0018] Figure 8 This is a diagram illustrating a situation where there is a tunnel exit in front of the motorcycle.

[0019] Figure 9 This is a diagram illustrating an example of a situation where a safety action can be performed when there is no vehicle traveling in front of the motorcycle.

[0020] Figure 10This is a diagram illustrating an example of a situation where a safety action can be performed when there is no vehicle traveling in front of the motorcycle.

[0021] Figure 11 This is a diagram illustrating an example of a situation where a safety action can be performed when there is no vehicle traveling in front of the motorcycle.

[0022] Figure 12 This is a schematic diagram illustrating an example of the conditions a motorcycle faces before transitioning from a driving environment with lower ambient light levels to one with higher ambient light levels. Detailed Implementation

[0023] The control device of the present invention will now be described with reference to the accompanying drawings.

[0024] The structures and operations described below are examples, and the present invention is not limited to such structures and operations.

[0025] Furthermore, similar or identical descriptions will be appropriately simplified or omitted below. Additionally, in the figures, similar or identical parts or portions will be omitted or given the same reference numerals. Furthermore, details of the construction will be appropriately simplified or omitted in the illustrations.

[0026] <Motorcycle Structure> Reference Figures 1-2 The structure of the control device 16 and the motorcycle 1 equipped with the control device 16 according to embodiments of the present invention will be described.

[0027] Figure 1 This is a schematic diagram illustrating an example of the general structure of motorcycle 1. Figure 1 In this embodiment, motorcycle 1 is shown as a two-wheeled motorcycle, but motorcycle 1 is not limited to this and can also be other types of motorcycles besides two-wheeled motorcycles (e.g., three-wheeled motorcycles). Furthermore, motorcycle 1 can also be a motorized bicycle, a small motorcycle, an electric small motorcycle, etc. Additionally, motorcycle 1 can be either a motorcycle powered by an engine or a motorcycle powered by an electric motor.

[0028] like Figure 1 As shown, the motorcycle 1 includes, for example, a drive source 11, a brake force control unit 12, a reporting unit 13, a camera 14, a wheel speed sensor 15, and a control device 16. However, the structure of the motorcycle 1 is not limited to this; for example, it may also have a structure that does not include at least one of the brake force control unit 12, the reporting unit 13, and the wheel speed sensor 15.

[0029] The drive source 11 outputs driving force that is transmitted to the drive wheel (e.g., rear wheel 3) of the motorcycle 1. In this embodiment, the drive source 11 is an engine, but is not limited to this; for example, it could also be an electric motor.

[0030] The brake force control unit 12 is a unit that controls and adjusts the braking force applied to the wheels of the motorcycle 1. These wheels can be either the front wheel 2 or the rear wheel 3 of the motorcycle 1, or only the front wheel 2 or only the rear wheel 3. The brake force control unit 12 is, for example, a hydraulic adjustment unit that adjusts the braking force applied to the wheels by adjusting the hydraulic pressure of the brake fluid in the wheel cylinder (not shown). Alternatively, the brake force control unit 12 can also be a control unit that controls the position of the braking components (e.g., brake pads) of the motorcycle 1's wheels using electrical signals (so-called brake-by-wire braking).

[0031] The reporting unit 13 reports information to the rider. Reporting methods include, for example, visual reporting and auditory reporting. Examples of reporting units 13 include liquid crystal displays, lights (e.g., indicator lights), and buzzers. The location of the reporting unit 13 in the motorcycle 1 is not particularly limited. For example, the reporting unit 13 can be located near the rearview mirror of the motorcycle 1 or forward of the handlebars. Furthermore, the reporting unit 13 can also be located on the rider's clothing (helmet, gloves, etc.).

[0032] Camera 14 functions as an environmental sensor. That is, camera 14 detects environmental information related to the surrounding environment of motorcycle 1. Camera 14 only needs to be mounted, for example, at least on the front of the motorcycle 1. Figure 1 In the motorcycle 1 shown, the camera 14 is only installed at the front of the motorcycle 1, but the location of the camera 14 is not limited to this. For example, the camera 14 may also be installed at the front and rear of the motorcycle 1, or at the front and side of the motorcycle 1. In addition, the camera 14 may also be installed at the front of the motorcycle 1 and at the rearview mirror of the motorcycle 1.

[0033] The surrounding environment information detected by camera 14 can be information related to the distance or orientation to objects located around motorcycle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, time difference, time until collision, etc.), or information related to the characteristics of objects located around motorcycle 1 (e.g., the type of object, the shape of the object, markings on the object, etc.). Furthermore, the surrounding environment information detected by camera 14 mounted on motorcycle 1 may also include road environment information in front of motorcycle 1, which will be described later. Examples of cameras 14 include monocular cameras, compound-eye cameras, etc. Furthermore, examples of the objects mentioned above include vehicles (e.g., two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, etc.), obstacles (e.g., trees, rocks, etc.), animals, people, etc. Further details will be described later, but camera 14 detects vehicles preceding motorcycle 1 in the control mode that performs positional relationship adjustment actions.

[0034] Wheel speed sensor 15 is a sensor that detects the wheel speed of the motorcycle 1's wheels (e.g., wheel rotation speed [rpm] or distance traveled per unit time [km / h], etc.). Wheel speed sensor 15 can also detect other physical quantities that can be substantially converted into wheel speed of the motorcycle 1's wheels. Figure 1 In the example, the wheel speed sensor 15 is installed on the front wheel 2 and the rear wheel 3 of the motorcycle 1, but the location of the wheel speed sensor 15 is not limited to this. For example, the wheel speed sensor 15 may be installed only on the front wheel 2, or it may be installed only on the rear wheel 3.

[0035] The control device 16 controls the movement of the motorcycle 1. Furthermore, the control device 16 has the function of communicating with various devices mounted on the motorcycle 1. Part or all of the control device 16 may be composed of a microcomputer, microprocessor unit, or other updatable components such as firmware. Additionally, part or all of the control device 16 may be a program module executed by instructions from a CPU or similar device. In the motorcycle 1, the control device 16 may be centralized as a single unit or may be divided into multiple units.

[0036] Figure 2 This is a block diagram illustrating an example of the functional structure of the control device 16. For example... Figure 2 As shown, the control device 16 includes, for example, an acquisition unit 16a and an execution unit 16b. Alternatively, the control device 16 may be configured without the acquisition unit 16a.

[0037] The acquisition unit 16a acquires information from various devices mounted on the motorcycle 1 and outputs it to the execution unit 16b, etc. For example, the acquisition unit 16a acquires information from the camera 14, wheel speed sensor 15, etc. Furthermore, if the motorcycle 1 is equipped with a communication device capable of communicating with external devices, the acquisition unit 16a can also acquire various information wirelessly using that communication device. Additionally, in this invention, "acquiring information" may include information extraction or generation.

[0038] The execution unit 16b executes a control mode, which executes the movement of motorcycle 1 and its preceding vehicle (see below) together. Figure 3 The positional relationship of the preceding vehicle 4) is adjusted to the target positional relationship. That is, the execution unit 16b has the function of performing the above-mentioned positional relationship adjustment action.

[0039] Examples of positional adjustment actions include adaptive cruise control. The following describes an example of adaptive cruise control being executed as a positional adjustment action, but positional adjustment actions are not limited to this. For example, a positional adjustment action could also be an action that remains in place even after accelerator operation by the rider, but changes the target positional relationship based on the amount of accelerator operation performed by the rider.

[0040] The actuator 16b can perform positional adjustment operations in the control mode described above. For example, the control mode is not executed when the motorcycle 1 is running, but is executed if the rider performs a switch operation using an input device mounted on the motorcycle 1 (e.g., a button used by the rider).

[0041] Here, during the execution of the above-described control mode, the state of the control mode can transition between a state where the positional adjustment action is actually performed and a state where the positional adjustment action is temporarily interrupted and not performed. For example, during the execution of the above-described control mode, if the camera 14 detects a preceding vehicle that is the object of positional adjustment, the execution unit 16b can perform the positional adjustment action. On the other hand, during the execution of the above-described control mode, if the camera 14 does not detect a preceding vehicle that is the object of positional adjustment, the execution unit 16b does not perform the positional adjustment action, or temporarily interrupts the positional adjustment action in progress. In this case, the execution unit 16b, for example, in the above-described control mode, performs the action of adjusting the speed of the motorcycle 1 to a target speed. The target speed is, for example, preset and stored in the storage element of the control device 16. Alternatively, the rider can also manually set the target speed.

[0042] Figure 3This is a schematic diagram showing a motorcycle 1 traveling behind a vehicle 4 that precedes it. Figure 3 In the example, camera 14 detects a preceding vehicle 4 traveling in the same lane as motorcycle 1, ahead of motorcycle 1. If the actuator 16b performs a positional relationship adjustment operation, the positional relationship between motorcycle 1 and the preceding vehicle 4 can be adjusted to the target positional relationship. Thus, motorcycle 1 follows the preceding vehicle 4.

[0043] In addition, Figure 3 In the example, the first vehicle 4 is a four-wheeled car, but it is not limited to this. For example, the first vehicle 4 could also be a motorized two-wheeled vehicle, a motorized tricycle, etc.

[0044] In the positional relationship adjustment operation, for example, a target value, namely the target passing time difference, is set for the passing time difference between motorcycle 1 and the preceding vehicle 4 (specifically, the time taken from the current point in time for motorcycle 1 to pass the current position of the preceding vehicle 4). The execution unit 16b controls the speed of motorcycle 1 to maintain the aforementioned passing time difference as the target passing time difference. That is, the positional relationship where the aforementioned passing time difference becomes the target passing time difference is equivalent to the target positional relationship. In such control, for example, the acquisition unit 16a acquires the aforementioned passing time difference based on the surrounding environment information of motorcycle 1, and the execution unit 16b controls the speed of motorcycle 1 as described above based on the passing time difference acquired by the acquisition unit 16a.

[0045] Furthermore, in the positional relationship adjustment operation, for example, if a target value, i.e., a target distance, is set between motorcycle 1 and the preceding vehicle 4, the execution unit 16b can also control the speed of motorcycle 1 to maintain the aforementioned distance at the target distance. In this case, the positional relationship where the aforementioned distance becomes the target distance is equivalent to the target positional relationship. Additionally, the distance can be either a distance along the lane in which motorcycle 1 travels or a straight-line distance. In such control, for example, the acquisition unit 16a acquires the aforementioned distance based on information about the surrounding environment of motorcycle 1, and the execution unit 16b can control the speed of motorcycle 1 as described above based on the distance acquired by the acquisition unit 16a.

[0046] In addition, the aforementioned target positional relationship can be the target value of the relative distance between motorcycle 1 and the leading vehicle 4, the target value of the relative speed between motorcycle 1 and the leading vehicle 4, or the target value of the collision probability between motorcycle 1 and the leading vehicle 4 (e.g., TTC (Time To Collision), ETTC (Enhanced Time To Collision), etc.).

[0047] Furthermore, for example, the actuator 16b controls the speed of the motorcycle 1 based on information about the speed of the motorcycle 1 obtained from the wheel speed of the front wheel 2 and the wheel speed of the rear wheel 3.

[0048] The method by which the execution unit 16b controls the speed of the motorcycle 1 is not specifically limited.

[0049] For example, the actuator 16b can also control the speed of the motorcycle 1 by controlling the increase or decrease of the acceleration of the motorcycle 1 by controlling the driving force acting on the motorcycle 1. The control of the driving force can be achieved, for example, by controlling the operation of the drive source 11 by the actuator 16b. In addition, the actuator 16b can also control the speed of the motorcycle 1 by controlling the increase or decrease of the deceleration of the motorcycle 1 by controlling the driving force acting on the motorcycle 1.

[0050] Furthermore, for example, the actuator 16b can also control the speed of the motorcycle 1 by controlling the deceleration of the motorcycle 1 through controlling the braking force applied to the wheels of the motorcycle 1. The control of the braking force can be achieved, for example, by the actuator 16b controlling the operation of the braking force control unit 12. Additionally, the actuator 16b can also control the speed of the motorcycle 1 by controlling the acceleration of the motorcycle 1 through controlling the braking force applied to the wheels of the motorcycle 1.

[0051] In this way, the positional relationship adjustment action is performed by automatically controlling the speed of the motorcycle 1 without relying on the acceleration and deceleration operations (i.e., accelerator operation and brake operation) performed by the rider.

[0052] <Action of the control device> Reference Figures 4-6 The operation of the control device 16 in this embodiment will be explained.

[0053] In this embodiment, in the control mode described above, the execution unit 16b determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle 1 is predicted based on the road environment information in front of the motorcycle 1. If the sudden change is predicted, the execution unit 16b performs a safety action for the rider of the motorcycle 1.

[0054] Figure 4 This is a schematic diagram illustrating an example of the situation before motorcycle 1 is about to enter a road with lower ambient light intensity from a road Ah with higher ambient light intensity. Figure 5 This is a schematic diagram illustrating an example of the situation after a motorcycle 1 has just entered a road with lower ambient light intensity (hereinafter referred to as low ambient light intensity road A1) from a road with higher ambient light intensity (Ah) (hereinafter also referred to as high ambient light intensity road Ah).

[0055] It is conceivable that, while the motorcycle 1 is moving, if the ambient light level changes drastically (for example, when the motorcycle 1 moves from a brighter location to a darker location), the acquisition of ambient information by the camera 14 will be delayed immediately after the sudden change in light level. This is because the camera 14 takes a predetermined amount of time (e.g., a few milliseconds to a few seconds) to adapt its field of view to the sudden change in light level.

[0056] In the event of a delay in acquiring ambient information from the aforementioned camera 14, it is necessary to consider, for example, the detection delay of the preceding vehicle 4 following a sudden change in ambient light, which could lead to a sudden deceleration of the motorcycle 1. Furthermore, it is necessary to consider the possibility that the stability of the motorcycle 1's body movement and the safety of the rider of the motorcycle 1 may decrease due to the sudden deceleration of the motorcycle 1.

[0057] For example, in Figure 4 In the example, a leading vehicle 4 is traveling in front of motorcycle 1. Motorcycle 1 accelerates due to a positional adjustment maneuver, aiming to make the positional relationship between motorcycle 1 and leading vehicle 4 the target positional relationship. In this state, motorcycle 1 enters a low-light-intensity travel path A1 from a high-light-intensity travel path Ah (i.e., the light intensity of the surrounding environment of motorcycle 1 drops sharply), and approaches leading vehicle 4 to some extent (…). Figure 5 Because camera 14 requires a certain amount of time for dark adaptation after entering the field of view, there may be a delay in detecting the preceding vehicle 4. Therefore, when camera 14 detects the preceding vehicle 4 after dark adaptation, the positional relationship between motorcycle 1 and the preceding vehicle 4 may be closer than the target positional relationship. Therefore, upon entering the low-light travel path A1, motorcycle 1 may rapidly decelerate through a positional relationship adjustment maneuver to adjust the positional relationship to the target positional relationship.

[0058] In contrast, in this embodiment, in the control mode described above, based on information about the road environment ahead of the motorcycle 1, it is determined whether a sudden change in the light intensity of the surrounding environment of the motorcycle 1 is predicted. If such a sudden change is predicted, a safety action for the rider of the motorcycle 1 is performed. Therefore, in the motorcycle 1 equipped with the camera 14, since a sudden change in the light intensity of the surrounding environment can be predicted in advance and a safety action can be performed before such a sudden change occurs, the sudden deceleration of the motorcycle 1 after such a sudden change can be suppressed, thereby improving the stability of the motorcycle 1's movement and the safety of the rider of the motorcycle 1.

[0059] Details will be discussed later, but the circumstances under which safety actions are performed by the execution unit 16b are not limited to... Figure 4 , Figure 5 Examples. In Figure 4The example shown illustrates a scenario where a vehicle 4 is traveling in front of the motorcycle 1, but it is not limited to this. For instance, the actuator 16b can also perform a safety action even when no vehicle 4 is traveling in front of the motorcycle 1. Furthermore, in Figure 4 The example shown illustrates how acceleration of motorcycle 1, achieved through a positional relationship adjustment action, can bring the positional relationship between motorcycle 1 and the preceding vehicle 4 to a target positional relationship, but this is not a limitation. For instance, actuator 16b can also perform a safety action even when motorcycle 1 decelerates to bring the aforementioned positional relationship to the target positional relationship. Furthermore, actuator 16b can also perform a safety action without performing a positional relationship adjustment action.

[0060] Furthermore, details will be discussed later, but... Figure 4 , Figure 5 The example shown illustrates a motorcycle 1 moving from a high-light-intensity driving path Ah to a low-light-intensity driving path A1, but it is not limited to this. For example, the execution unit 16b may also perform a safety action if it determines that it predicts that the motorcycle 1 will move from the low-light-intensity driving path A1 to the high-light-intensity driving path Ah (i.e., the light intensity of the surrounding environment of the motorcycle 1 increases sharply).

[0061] Figure 6 This is a flowchart illustrating an example of the processing flow (control flow) performed by the control device 16 during the execution of the above-described control mode. Figure 6 Step S101 in the text corresponds to Figure 6 The control flow shown begins, and step S104 corresponds to the end of that control flow. Additionally, Figure 6 The control flow shown can occur either during the execution of the positional adjustment action in the aforementioned control mode, or when no positional adjustment action is performed. Furthermore, the positional adjustment action can also be performed in… Figure 6 Execution at any point in the control flow shown.

[0062] exist Figure 6 After the control flow is initiated, in step S102, the execution unit 16b determines, based on the road environment information ahead of the motorcycle 1, whether a sudden change in the light intensity of the surrounding environment of the motorcycle 1 is predicted. If it is determined in step S102 that a sudden change in the light intensity is predicted, the processing in step S103 is performed. Figure 6 In the example, if no abrupt change in the light quantity is predicted in step S102, the process of step S102 is repeated. Alternatively, if no abrupt change in the light quantity is predicted in step S102, the execution unit 16b may also terminate the process.

[0063] The road environment information refers to the information about the environment of the road ahead of the motorcycle 1 (i.e., the direction of travel) in the road environment information of the road on which the motorcycle 1 travels. The aforementioned road environment information includes, for example, information indicating the presence of a specific structure on the road ahead of the motorcycle 1, information indicating the presence of a part of a specific structure on the road ahead of the motorcycle 1, information indicating the presence of specific equipment on the road ahead of the motorcycle 1, and information indicating the weather on the road ahead of the motorcycle 1, etc.

[0064] The aforementioned road environment information can be obtained, for example, based on the output information of camera 14 (i.e., images captured by camera 14). Alternatively, the aforementioned road environment information can also be obtained wirelessly via a communication device mounted on motorcycle 1 and capable of communicating with external devices. Furthermore, the aforementioned road environment information can also be obtained from map information.

[0065] For example, the execution unit 16b can determine whether a sharp decrease in the light intensity of the surrounding environment of the motorcycle 1 is predicted based on the aforementioned road environment information, and the execution unit 16b can also determine whether a sharp increase in the light intensity is predicted based on the aforementioned road environment information. Furthermore, for example, the execution unit 16b can also determine whether a sharp decrease in the light intensity or a sharp increase in the light intensity is predicted based on the aforementioned road environment information.

[0066] The method for determining whether a sudden change in light intensity is predicted based on the aforementioned road environment information is not particularly limited. For example, if the execution unit 16b determines that a sudden change in the light intensity of the surrounding environment of the motorcycle 1 is predicted (i.e., a sudden change in the light intensity of the surrounding environment is predicted) when the aforementioned road environment information includes information indicating that there is an entrance Tn or an exit Tx of a tunnel T in front of the motorcycle 1. In this case, specifically, as Figure 7 As shown, when the aforementioned road environment information includes information indicating the presence of a tunnel entrance Tn in front of motorcycle 1, it is determined that a sharp decrease in the amount of light in the surrounding environment of motorcycle 1 is predicted (i.e., a sharp decrease in the amount of light in the surrounding environment is predicted), such as... Figure 8 As shown, if the above-mentioned road environment information includes information indicating that there is an exit Tx of tunnel T in front of motorcycle 1, it is determined that a sharp increase in the amount of light in the surrounding environment of motorcycle 1 is predicted (i.e., a sharp increase in the amount of light in the surrounding environment is predicted).

[0067] Additionally, the execution unit 16b may, for example, determine that a sudden change in the amount of light in the surrounding environment of the motorcycle 1 is predicted when the aforementioned road environment information includes information indicating that there is an entrance or exit of a roadway in front of the motorcycle 1 (i.e., a sudden change in the amount of light in the surrounding environment can also be predicted).

[0068] Furthermore, if the aforementioned road environment information includes information about the weather at the road ahead of the motorcycle 1, the execution unit 16b may determine whether a sudden change in light intensity is predicted based on the weather information, in addition to the aforementioned determination criteria. For example, the execution unit 16b may also determine that a sudden change in light intensity is predicted if the aforementioned road environment information includes information indicating that there is an entrance Tn or exit Tx of a tunnel T ahead of the motorcycle 1, and includes information indicating that the weather at the road ahead is sunny.

[0069] Following step S102, as step S103, the execution unit 16b performs a safety action for the rider of the motorcycle 1. The safety action is an action designed to improve the safety of the rider of the motorcycle 1.

[0070] Examples of the aforementioned safety actions include actions to suppress the acceleration of motorcycle 1, reporting actions to suppress riders' urging for acceleration of motorcycle 1, actions to decelerate motorcycle 1, and reporting actions to riders' urging for deceleration of motorcycle 1. Examples of actions to suppress acceleration include actions to reduce the acceleration of motorcycle 1 compared to a situation where the aforementioned safety action is not performed, and actions to lower the upper limit of the acceleration of motorcycle 1 compared to a situation where the aforementioned safety action is not performed. Furthermore, the reporting actions to suppress acceleration and to urge deceleration are actions reported by the reporting unit 13 to the execution unit 16b.

[0071] Furthermore, for example, if the aforementioned positional relationship adjustment action is not performed and a speed adjustment action is performed to adjust the speed of motorcycle 1 to the target speed, the aforementioned safety action may be an action that makes the target speed in the aforementioned speed adjustment action lower than the case where the aforementioned safety action is not performed.

[0072] In the control mode described above, the actuator 16b only needs to perform the aforementioned safety action, but it is preferable to perform the aforementioned safety action during the execution of the positional relationship adjustment action. Examples of the aforementioned safety actions performed during the execution of the positional relationship adjustment action include actions to correct the aforementioned target positional relationship. Specifically, actions to correct the aforementioned target positional relationship may include, for example, actions to make the target value of the time difference between the motorcycle 1 and the preceding vehicle 4, i.e., the target time difference, larger than the case where no safety action was performed. Furthermore, actions to correct the aforementioned target positional relationship may also include, for example, actions to make the target value of the inter-vehicle distance between the motorcycle 1 and the preceding vehicle 4, i.e., the target inter-vehicle distance, larger than the case where no safety action was performed.

[0073] Furthermore, among the examples of the aforementioned safety actions performed during the positional adjustment operation, one includes an action to correct the rate of change of speed of motorcycle 1 during the positional adjustment operation. Specifically, the action to correct the rate of change of speed may, for example, be an action to suppress the acceleration of motorcycle 1 during the positional adjustment operation. Examples of actions to suppress acceleration include actions to reduce the acceleration of motorcycle 1 during the positional adjustment operation compared to a situation where the aforementioned safety action is not performed, and actions to lower the upper limit of the acceleration of motorcycle 1 during the positional adjustment operation compared to a situation where the aforementioned safety action is not performed.

[0074] Alternatively, the aforementioned safety action could be, for example, having the reporting unit 13 report to the rider a predicted sudden change in the amount of light in the surrounding environment of the motorcycle 1. Furthermore, if a positional adjustment action has been performed, the aforementioned safety action could also be, for example, stopping the execution of the positional adjustment action.

[0075] As described above, the actuator 16b can also perform the safety action when there is no preceding vehicle 4 traveling in front of the motorcycle 1. For example, the actuator 16b can also perform the above-mentioned safety action when it is performing the action of adjusting the speed of the motorcycle 1 to the target speed in the control mode described above. Figures 9-11 This is a schematic diagram illustrating an example of a situation where a safety action can be performed when there is no preceding vehicle 4 traveling in front of the motorcycle 1. Figures 9-11 Following the time series sequence, from Figure 9 An example of the state after a given time is... Figure 10 ,from Figure 10 An example of the state after a given time is... Figure 11 .

[0076] For example, considering that when motorcycle 1 is traveling on high-light-intensity road Ah, other vehicles 5 traveling diagonally in front of motorcycle 1 are not identified as leading vehicles. Figure 9 ) After motorcycle 1 enters the low-light travel path A1, the vehicle 4 moves in front of motorcycle 1 and becomes the leading vehicle 4. Figure 10 , Figure 11Furthermore, in this case, it is envisioned that the camera 14 requires a certain amount of time for dark adaptation after the motorcycle 1 enters the low-light travel path A1, resulting in a delay in the detection of the preceding vehicle 4. It is also envisioned that the delay in detecting the preceding vehicle 4 will cause a delay in the initiation of the positional relationship adjustment action. Moreover, in this case, when the motorcycle 1 enters the low-light travel path A1, the motorcycle 1 is either traveling at the target speed or accelerating towards the target speed. Therefore, when the camera 14 detects the preceding vehicle 4 during dark adaptation, there is a high probability that the motorcycle 1 and the preceding vehicle 4 are in close proximity, potentially leading to a sudden deceleration of the motorcycle 1 due to the initiation of the positional relationship adjustment action.

[0077] In contrast, by performing a safety action by the actuator 16b, the sudden deceleration of the motorcycle 1 caused by the start of the positional adjustment action after entering from the high-light-amount travel path Ah to the low-light-amount travel path A1 (i.e., after a sudden change in the light intensity of the surrounding environment of the motorcycle 1) can be suppressed.

[0078] Furthermore, as described above, for example, the execution unit 16b can also perform a safety action if it is determined that the motorcycle 1 is predicted to enter the high-light-intensity travel path Ah from the low-light-intensity travel path A1. Figure 12 This is a schematic diagram illustrating an example of the situation before motorcycle 1 enters the high-light-intensity travel path Ah from the low-light-intensity travel path Al. Figure 12 In the example, a leading vehicle 4 is traveling ahead of motorcycle 1, and the positional adjustment operation is being performed by the actuator 16b. When motorcycle 1 enters the high-light-intensity travel path Ah from the low-light-intensity travel path A1, the field of view of camera 14 requires a certain amount of time to adapt to the light immediately after entering, which may result in a delay in the detection of the leading vehicle 4. It should be considered that if there is a delay in the detection of the presence of the leading vehicle 4 by the aforementioned camera 14, the motorcycle 1 may experience a sudden deceleration due to the positional adjustment operation.

[0079] In contrast, when it is determined that a transition from a low-light-intensity travel path A1 to a high-light-intensity travel path Ah is predicted, a safety action is performed by the actuator 16b. This allows for the prediction of sudden changes in ambient light levels and the execution of safety actions before such changes occur. Therefore, sudden deceleration of the motorcycle 1 can be suppressed immediately after transitioning from the low-light-intensity travel path A1 to the high-light-intensity travel path Ah. Furthermore, it improves the stability of the motorcycle 1's movement and the safety of the rider.

[0080] Preferably, if, in step S102, the execution unit 16b determines that a sudden change in the amount of light in the surrounding environment of the motorcycle 1 is predicted based on the aforementioned road environment information, which includes information indicating the presence of an entrance Tn or exit Tx of the tunnel T ahead of the motorcycle 1, the execution unit 16b performs a safety action before the motorcycle 1 passes through the entrance Tn or exit Tx of the tunnel T based on the motorcycle 1's position information. That is, the execution unit 16b can perform the aforementioned safety action if the aforementioned position information indicates that the motorcycle 1 is at a position before passing through the entrance Tn or exit Tx of the tunnel T. This position information can, for example, be obtained based on information transmitted from GPS (Global Positioning System) satellites.

[0081] exist Figure 6 In the example, after the processing of step S103, the execution unit 16b ends the processing, but it is not limited to this. For example, after the processing of step S103, the execution unit 16b may also perform the processing of step S102 again.

[0082] <Variation Example> The execution unit 16b of the control device 16 of the present invention can also switch between a first mode that performs the aforementioned safety operation and a second mode that does not perform the aforementioned safety operation. In this case, Figure 6 The control flow described herein is equivalent to the control flow in Mode 1.

[0083] The actuator 16b can automatically switch between the first mode and the second mode, or it can switch between the first mode and the second mode based on manual setting information given by the rider of the motorcycle 1.

[0084] When automatically switching between these modes, the actuator 16b automatically switches between the first mode and the second mode, for example, based on whether there is a following vehicle traveling behind the motorcycle 1. Specifically, for example, the actuator 16b selects the first mode when there is a following vehicle, and selects the second mode when there is no following vehicle. The presence or absence of the following vehicle can be determined based on the output information of an ambient environment sensor (e.g., radar, camera, etc.) mounted on the rear of the motorcycle 1. If there is a following vehicle, a collision between the motorcycle 1 and the following vehicle may occur due to the sudden deceleration of the motorcycle 1. Therefore, by automatically switching to the first mode when there is a following vehicle, the sudden deceleration of the motorcycle 1 is effectively suppressed by a safety action.

[0085] <Effect> The effects of the control device 16 in the embodiments of the present invention will be explained.

[0086] The control device 16 is a control device that controls the movement of the motorcycle 1. It includes an execution unit 16b that executes a control mode. The control mode executes a positional adjustment action that adjusts the positional relationship between the motorcycle 1 and the preceding vehicle 4 of the motorcycle 1 to a target positional relationship by automatically accelerating or decelerating the motorcycle 1. In the above control mode, the preceding vehicle 4 is detected by a camera 14 mounted on the motorcycle 1. Furthermore, in the control mode, the execution unit 16b determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle 1 is predicted based on the road environment information in front of the motorcycle 1. If the sudden change is predicted, a safety action is performed for the rider of the motorcycle 1.

[0087] Therefore, in the motorcycle 1 equipped with camera 14, it is possible to predict sudden changes in the amount of light in the surrounding environment in advance and perform safety actions before such sudden changes occur. So even if the detection of the preceding vehicle 4 is delayed after a sudden change in the amount of light in the surrounding environment, it is possible to suppress the sudden deceleration of the motorcycle 1 after such a sudden change occurs, thereby improving the stability of the motorcycle 1's movement and the safety of the rider of the motorcycle 1.

[0088] Preferably, the aforementioned safety action includes an action to suppress the acceleration of motorcycle 1. Therefore, compared to the case where no safety action is performed, acceleration can be smoothed out before a sudden change in the ambient light level of motorcycle 1 occurs. Even if the detection of the preceding vehicle 4 is delayed after the sudden change in ambient light level, rapid deceleration of motorcycle 1 after such a sudden change can be further suppressed. This further improves the stability of motorcycle 1's movement and the safety of the rider.

[0089] Furthermore, preferably, in the control mode described above, the actuator 16b performs a speed adjustment action to adjust the speed of the motorcycle 1 to a target speed when the positional relationship adjustment action is not performed; the safety action includes making the target speed in the speed adjustment action lower than the case where the safety action is not performed. Therefore, before the sudden change in light intensity, the speed of the motorcycle 1 is lower than the case where the safety action is not performed, making it difficult for the motorcycle 1 to decelerate suddenly even if the detection of the preceding vehicle 4 is delayed after the sudden change. This further improves the stability of the motorcycle 1's movement and the safety of the rider.

[0090] Furthermore, preferably, the execution unit 16b performs the aforementioned safety action during the positional relationship adjustment operation. During the positional relationship adjustment operation, if the camera 14 spends time adapting to the rapid changes in ambient light and the detection of the preceding vehicle 4 is delayed, the positional relationship between the motorcycle 1 and the preceding vehicle 4 may become closer to the target positional relationship. In this case, the motorcycle 1 may decelerate rapidly during the positional relationship adjustment operation to adjust the positional relationship between the motorcycle 1 and the preceding vehicle 4 to the target positional relationship. Therefore, during the positional relationship adjustment operation, the stability of the motorcycle 1's movement and the safety of the rider are more likely to decrease. Therefore, by performing the aforementioned safety action during the positional relationship adjustment operation, the stability of the motorcycle 1's movement and the safety of the rider are significantly improved.

[0091] Furthermore, preferably, the aforementioned safety action includes the action of correcting the target positional relationship during the positional relationship adjustment action. Therefore, even if the camera 14 takes time to adapt to sudden changes in the amount of light in the surrounding environment, it is possible to prevent the positional relationship between the motorcycle 1 and the preceding vehicle 4 from becoming closer to the target positional relationship, thus reducing the possibility of sudden deceleration of the motorcycle 1. Therefore, by performing the aforementioned safety action during the positional relationship adjustment action, the stability of the motorcycle 1's movement and the safety of the rider of the motorcycle 1 can be further improved.

[0092] Furthermore, preferably, the aforementioned safety action includes correcting the rate of change of the motorcycle 1's speed during the positional adjustment action. Therefore, even if the camera 14 takes time to adapt to sudden changes in the amount of light in the surrounding environment, it is possible to prevent the positional relationship between the motorcycle 1 and the preceding vehicle 4 from becoming closer to the target positional relationship, thus suppressing the possibility of sudden deceleration of the motorcycle 1. Therefore, by performing the aforementioned safety action during the positional adjustment action, the stability of the motorcycle 1's movement and the safety of the rider of the motorcycle 1 can be further improved.

[0093] Furthermore, preferably, the aforementioned road environment information is obtained based on the output information of camera 14. By using the road environment information obtained from camera 14, the responsiveness of safety actions can be improved. As a result, the stability of the motorcycle 1's body movements and the safety of the rider of the motorcycle 1 can be further improved.

[0094] Furthermore, preferably, in the aforementioned control mode, the execution unit 16b determines, based on the aforementioned road environment information, whether a sharp decrease in the light intensity of the surrounding environment is predicted, and performs the aforementioned safety action if the sharp decrease is predicted. For example... Figure 4 and Figure 5 As illustrated in the example, when motorcycle 1 enters low-light travel path A1 from high-light travel path Ah, the camera 14's field of view spends time in dark adaptation immediately after entering the path, which may cause a delay in detecting the positional relationship between motorcycle 1 and the preceding vehicle 4. Therefore, the possibility of motorcycle 1 suddenly decelerating is more likely. Thus, by predicting the aforementioned sudden drop in ambient light and performing the aforementioned safety action upon predicting such a drop, the stability of motorcycle 1's movement and the safety of the rider of motorcycle 1 are significantly improved.

[0095] Furthermore, preferably, in the aforementioned control mode, the execution unit 16b determines, based on the aforementioned road environment information, whether a sudden increase in the light intensity of the surrounding environment is predicted, and performs the aforementioned safety action if the sudden increase is predicted. For example... Figures 9-11 As illustrated in the example, when motorcycle 1 enters high-light-intensity traffic lane Ah from low-light-intensity lane A1, the camera 14's field of view spends time adapting to light immediately after entering the lane, potentially causing a delay in detecting the positional relationship between motorcycle 1 and the preceding vehicle 4. Therefore, the possibility of sudden deceleration of motorcycle 1 is more likely. Thus, by predicting the aforementioned sudden increase in ambient light intensity and performing the aforementioned safety maneuvers upon predicting such a sudden increase, the stability of motorcycle 1's movement and the safety of the rider of motorcycle 1 are significantly improved.

[0096] Furthermore, preferably, in the aforementioned control mode, the execution unit 16b determines that a sudden change in the light intensity of the surrounding environment is predicted when the road environment information includes information indicating the presence of an entrance Tn or exit Tx of a tunnel T ahead of the motorcycle 1. When the motorcycle 1 passes through the entrance Tn of the tunnel T, the light intensity of the surrounding environment is particularly likely to change abruptly (specifically, the light intensity of the surrounding environment is particularly likely to decrease sharply). Furthermore, when the motorcycle 1 passes through the exit Tx of the tunnel T, the light intensity of the surrounding environment is particularly likely to change abruptly (specifically, the light intensity of the surrounding environment is particularly likely to increase sharply). Because of these factors, when the motorcycle 1 passes through the entrance or exit of the tunnel T, a delay in the adaptation of the camera 14's field of vision immediately after passing through is more likely to occur. Therefore, by determining that a sudden change in the light intensity is predicted when the road environment information ahead of the motorcycle 1 includes information indicating the presence of an entrance Tn or exit Tx of the tunnel T (i.e., determining that a sudden change in the light intensity is predicted), the effect of improving the stability of the motorcycle 1's movement and the safety of the rider of the motorcycle 1 brought about by the execution of the aforementioned safety action is more significantly achieved.

[0097] Furthermore, preferably, in the aforementioned control mode, when the actuator 16b determines that a sudden change in the amount of light in the surrounding environment is predicted, it performs the aforementioned safety action based on the motorcycle 1's position information before the motorcycle 1 passes through the entrance Tn or exit Tx of the tunnel T. This makes it easier and more reliable to perform the safety action before the motorcycle 1 passes through the entrance Tn or exit Tx of the tunnel T, further improving the stability of the motorcycle 1's movement and the safety of the rider.

[0098] Furthermore, preferably, the actuator 16b switches between a first mode that performs the aforementioned safety action and a second mode that does not perform the aforementioned safety action. This allows for switching between the performance of the aforementioned safety action and its absence based on the riding conditions or the rider's preference.

[0099] Furthermore, the control device 16 in this invention can be implemented individually or in combination as illustrated above.

[0100] Furthermore, the present invention is not limited to the description of the embodiments. For example, only a portion of the embodiments may be implemented.

[0101] As described above, the control device and control method of the present invention include the following embodiments.

[0102] [1] A control device (16) is a control device (16) for controlling the movement of a motorcycle (1), and includes an execution unit (16b) for executing a control mode. The control mode executes a positional relationship adjustment action by automatically accelerating or decelerating the motorcycle (1) to adjust the positional relationship between the motorcycle (1) and the preceding vehicle (4) of the motorcycle (1) to a target positional relationship. In the control mode, the preceding vehicle (4) is detected by a camera (14) mounted on the motorcycle (1). Furthermore, in the control mode, the execution unit (16b) determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle (1) is predicted based on the road environment information in front of the motorcycle (1). If the sudden change is predicted, a safety action is performed for the rider of the motorcycle (1).

[0103] [2] As described in [1], the aforementioned safety action includes the action of suppressing the acceleration of the aforementioned motorcycle (1).

[0104] [3] As described in [1] or [2], the aforementioned actuator (16b) performs a speed adjustment action to adjust the speed of the aforementioned motorcycle (1) to a target speed in the aforementioned control mode when the aforementioned position relationship adjustment action is not performed; the aforementioned safety action includes the action of making the aforementioned target speed in the aforementioned speed adjustment action lower than the case where the aforementioned safety action is not performed.

[0105] [4] The control device (16) as described in any one of [1] to [3], wherein the aforementioned actuator (16b) performs the aforementioned safety action during the execution of the aforementioned positional relationship adjustment action.

[0106] [5] As described in [4], the aforementioned safety action includes the action of correcting the aforementioned target position relationship in the aforementioned position relationship adjustment action.

[0107] [6] As described in [4] or [5], the aforementioned safety action includes the action of correcting the rate of change of speed of the aforementioned motorcycle (1) in the aforementioned positional relationship adjustment action.

[0108] [7] The control device (16) as described in any one of [1] to [6] obtains the aforementioned driving environment information based on the output information of the aforementioned camera (14).

[0109] [8] In any one of the control devices (16) [1] to [7], the aforementioned execution unit (16b) determines, in the aforementioned control mode, whether a sharp drop in the aforementioned light intensity of the aforementioned surrounding environment is predicted based on the aforementioned driving road environment information; if it is determined that the aforementioned sharp drop is predicted, the aforementioned safety action is performed.

[0110] [9] In any one of the control devices (16) [1] to [7], the aforementioned execution unit (16b) determines, in the aforementioned control mode, whether a sudden increase in the aforementioned light intensity of the aforementioned surrounding environment is predicted based on the aforementioned road environment information; if it is determined that the aforementioned sudden increase is predicted, the aforementioned safety action is performed.

[0111]

[10] In any of the control devices (16) described in [1] to [7], the aforementioned execution unit (16b) determines, in the aforementioned control mode, that a sudden change in the amount of light in the aforementioned surrounding environment is predicted when the aforementioned road environment information includes information indicating that there is an entrance (Tn) or exit (Tx) of a tunnel (T) in front of the aforementioned motorcycle (1).

[0112]

[11] As described in [8], the aforementioned execution unit (16b) determines, in the aforementioned control mode, that the aforementioned driving environment information includes information indicating that there is an entrance (Tn) of a tunnel (T) in front of the aforementioned motorcycle (1), the aforementioned rapid decrease in the aforementioned light intensity of the aforementioned surrounding environment is predicted.

[0113]

[12] As described in [9], the aforementioned execution unit (16b) determines, in the aforementioned control mode, that the aforementioned driving environment information includes information indicating that there is an exit (Tx) of a tunnel (T) in front of the aforementioned motorcycle (1), the aforementioned rapid increase in the aforementioned light amount of the aforementioned surrounding environment is predicted.

[0114]

[13] As described in

[10] , in the aforementioned control mode, the aforementioned execution unit (16b) performs the aforementioned safety action based on the location information of the aforementioned motorcycle (1) before the aforementioned motorcycle (1) passes through the entrance (Tn) or exit (Tx) of the aforementioned tunnel (T) when it is determined that a sudden change in the aforementioned light quantity of the aforementioned surrounding environment is predicted.

[0115]

[14] The control device (16) as described in any one of [1] to

[13] , wherein the aforementioned execution unit (16b) switches between a first mode for performing the aforementioned safety operation and a second mode for not performing the aforementioned safety operation.

[0116]

[15] A control method is a control method for controlling the movement of a motorcycle (1). The execution unit (16b) of the control device (16) executes a control mode, which executes a positional relationship adjustment action by automatically accelerating or decelerating the motorcycle (1) to adjust the positional relationship between the motorcycle (1) and the preceding vehicle (4) of the motorcycle (1) to a target positional relationship. In the control mode, the preceding vehicle (4) is detected by a camera (14) mounted on the motorcycle (1). Furthermore, in the control mode, the execution unit (16b) determines whether a sudden change in the light intensity of the surrounding environment of the motorcycle (1) is predicted based on the road environment information in front of the motorcycle (1). If the sudden change is predicted, a safety action is performed for the rider of the motorcycle (1).

[0117] Explanation of reference numerals in the attached figures 1 Motorcycle; 2 Front wheel; 3 Rear wheel; 4 Leading vehicle; 5 Other vehicles; 11 Drive source; 12 Braking control unit; 12a Adjustment mechanism; 12b Control unit; 13 Reporting unit; 14 Ambient environment sensor; 15 Wheel speed sensor; 16 Control device; 16a Acquisition unit; 16b Execution unit; Ah High light intensity driving path; Al Low light intensity driving path; T Tunnel; Tn Entrance; Tx Exit.

Claims

1. A control device (16) for controlling the movement of a motorcycle (1), characterized in that, An execution unit (16b) is equipped with an execution control mode, which executes a positional relationship adjustment action by automatically accelerating or decelerating the aforementioned motorcycle (1) to adjust the positional relationship between the aforementioned motorcycle (1) and the preceding vehicle (4) of the aforementioned motorcycle (1) to a target positional relationship. In the aforementioned control mode, the aforementioned lead vehicle (4) is detected by a camera (14) mounted on the aforementioned motorcycle (1); Furthermore, in the aforementioned control mode, the aforementioned execution unit (16b) Based on the road environment information in front of the aforementioned motorcycle (1), determine whether a sudden change in the amount of light in the surrounding environment of the aforementioned motorcycle (1) is predicted. If it is determined that the aforementioned sudden change is predicted, a safety action shall be taken for the rider of the aforementioned motorcycle (1).

2. The control device (16) as described in claim 1, characterized in that, The aforementioned safety actions include actions to suppress the acceleration of the aforementioned motorcycle (1).

3. The control device (16) as described in claim 1, characterized in that, In the aforementioned control mode, the aforementioned actuator (16b) performs a speed adjustment action to adjust the speed of the aforementioned motorcycle (1) to the target speed without performing the aforementioned positional relationship adjustment action; The aforementioned safety action includes actions that lower the target speed in the aforementioned speed adjustment action compared to the case where the aforementioned safety action was not performed.

4. The control device (16) as described in claim 1, characterized in that, The aforementioned execution unit (16b) performs the aforementioned safety action during the execution of the aforementioned positional relationship adjustment action.

5. The control device (16) as described in claim 4, characterized in that, The aforementioned safety actions include actions that correct the aforementioned target positional relationship in the aforementioned positional relationship adjustment actions.

6. The control device (16) as described in claim 4, characterized in that, The aforementioned safety actions include actions that correct the rate of change of speed of the aforementioned motorcycle (1) in the aforementioned positional relationship adjustment actions.

7. The control device (16) as claimed in claim 1, characterized in that, The aforementioned driving environment information is obtained based on the output information of the aforementioned camera (14).

8. The control device (16) as claimed in claim 1, characterized in that, In the aforementioned control mode, the aforementioned execution unit (16b) Based on the aforementioned driving environment information, determine whether the aforementioned sharp decrease in the light intensity of the surrounding environment was predicted; If the aforementioned sharp descent is predicted, the aforementioned safety actions shall be performed.

9. The control device (16) as claimed in claim 1, characterized in that, In the aforementioned control mode, the aforementioned execution unit (16b) Based on the aforementioned driving environment information, determine whether the aforementioned sharp increase in the light intensity of the surrounding environment was predicted. If the aforementioned sharp increase is predicted, the aforementioned safety measures shall be taken.

10. The control device (16) as claimed in claim 1, characterized in that, In the aforementioned control mode, if the aforementioned driving environment information includes information indicating that there is an entrance (Tn) or exit (Tx) of a tunnel (T) in front of the aforementioned motorcycle (1), the aforementioned execution unit (16b) determines that the aforementioned sudden change in the aforementioned light quantity of the aforementioned surrounding environment is predicted.

11. The control device (16) as claimed in claim 8, characterized in that, In the aforementioned control mode, if the aforementioned driving environment information includes information indicating that there is an entrance (Tn) of a tunnel (T) in front of the aforementioned motorcycle (1), the aforementioned execution unit (16b) determines that the aforementioned rapid decrease in the aforementioned light quantity of the aforementioned surrounding environment is predicted.

12. The control device (16) as described in claim 9, characterized in that, In the aforementioned control mode, if the aforementioned driving environment information includes information indicating that there is an exit (Tx) of a tunnel (T) in front of the aforementioned motorcycle (1), the aforementioned execution unit (16b) determines that the aforementioned rapid increase in the aforementioned light amount of the aforementioned surrounding environment is predicted.

13. The control device (16) as claimed in claim 10, characterized in that, In the aforementioned control mode, if the aforementioned sudden change in the amount of light in the aforementioned surrounding environment is predicted, the aforementioned execution unit (16b) performs the aforementioned safety action before the aforementioned motorcycle (1) passes through the entrance (Tn) or exit (Tx) of the aforementioned tunnel (T) based on the location information of the aforementioned motorcycle (1).

14. The control device (16) as claimed in any one of claims 1 to 13, characterized in that, The aforementioned execution unit (16b) switches between the first mode of performing the aforementioned safety action and the second mode of not performing the aforementioned safety action.

15. A control method for controlling the movement of a motorcycle (1), characterized in that, The execution unit (16b) of the control device (16) executes a control mode, which executes a positional relationship adjustment action by automatically accelerating or decelerating the aforementioned motorcycle (1) to adjust the positional relationship between the aforementioned motorcycle (1) and the preceding vehicle (4) of the aforementioned motorcycle (1) to a target positional relationship. In the aforementioned control mode, the aforementioned lead vehicle (4) is detected by a camera (14) mounted on the aforementioned motorcycle (1); Furthermore, in the aforementioned control mode, the aforementioned execution unit (16b) Based on the road environment information in front of the aforementioned motorcycle (1), determine whether a sudden change in the amount of light in the surrounding environment of the aforementioned motorcycle (1) is predicted. If it is determined that the aforementioned sudden change is predicted, a safety action shall be taken for the rider of the aforementioned motorcycle (1).

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