Control device and control method

Abstract

To provide a control device and control method capable of optimizing the behavior of a saddle-ride type vehicle.SOLUTION: In a control device and control method according to the present invention, an execution unit of the control device executes a positional relationship adjustment operation to adjust the positional relationship between a saddle-ride type vehicle (1) and a follow-up object vehicle (2) to be a target positional relationship. When turn-on of a brake lamp (3) of the follow-up object vehicle (2) is detected, the execution unit executes a positional relationship adjustment operation in which the target positional relationship is changed so that the saddle-ride type vehicle (1) moves farther away from the follow-up object vehicle (2) in comparison to a case where turn-on of the brake lamp (3) of the follow-up object vehicle (2) is not detected. During execution of the positional relationship adjustment operation, the execution unit performs a reliability determination being a determination of the reliability of detection of turn-on of the brake lamp (3), on the basis of surrounding environment information of the saddle-ride type vehicle (1), and determines the target positional relationship on the basis of the result of the reliability determination.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This disclosure relates to a control device and a control method capable of optimizing the behavior of a straddle-type vehicle.

Background Art

[0002] Conventionally, various technologies for assisting the driving of a rider of a straddle-type vehicle such as a motorcycle have been proposed. For example, in Patent Document 1, based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction, a driver assistance system that warns a rider of a motorcycle that they are approaching an obstacle inappropriately is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, as a technology for assisting the driving of a vehicle, there is a position relationship adjustment operation for adjusting the position relationship between the vehicle and the following target vehicle so as to be a target position relationship. Further, regarding such a position relationship adjustment operation, when the lighting of the brake lamp of the following target vehicle is detected, the target position relationship is changed so that the vehicle moves away from the following target vehicle as compared with the case where the lighting of the brake lamp of the following target vehicle is not detected, and there is a technology for further improving safety. And by applying the above position relationship adjustment operation to a straddle-type vehicle, it is conceivable to improve the safety of the straddle-type vehicle. Here, in a straddle-type vehicle, since the vehicle body behavior is more unstable and more likely to change sensitively than a four-wheeled automobile or the like, it is particularly desirable to optimize the behavior of the straddle-type vehicle in such a technology.

[0005] The present invention has been made in view of the above-described problems, and aims to provide a control device and a control method capable of optimizing the behavior of a saddle-riding type vehicle.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device that controls the behavior of a saddle-riding type vehicle, and includes an execution unit that executes a position relationship adjustment operation for adjusting the position relationship between the saddle-riding type vehicle and a following target vehicle so as to be a target position relationship. When the lighting of the brake lamp of the following target vehicle is detected, the execution unit executes the position relationship adjustment operation in which the target position relationship is changed so that the saddle-riding type vehicle moves away from the following target vehicle as compared with the case where the lighting of the brake lamp of the following target vehicle is not detected. When executing the position relationship adjustment operation, the execution unit performs a reliability determination, which is a determination of the reliability of the detection of the lighting of the brake lamp, based on the surrounding environment information of the saddle-riding type vehicle, and determines the target position relationship based on the result of the reliability determination.

[0007] The control method according to the present invention is a control method for controlling the behavior of a saddle-riding type vehicle. An execution unit of a control device executes a position relationship adjustment operation for adjusting the position relationship between the saddle-riding type vehicle and a following target vehicle so as to be a target position relationship. When the lighting of the brake lamp of the following target vehicle is detected, the execution unit executes the position relationship adjustment operation in which the target position relationship is changed so that the saddle-riding type vehicle moves away from the following target vehicle as compared with the case where the lighting of the brake lamp of the following target vehicle is not detected. When executing the position relationship adjustment operation, the execution unit performs a reliability determination, which is a determination of the reliability of the detection of the lighting of the brake lamp, based on the surrounding environment information of the saddle-riding type vehicle, and determines the target position relationship based on the result of the reliability determination.

Effects of the Invention

[0008] In the control device and control method according to the present invention, an execution unit of the control device executes a position relationship adjustment operation for adjusting the position relationship between the straddle-type vehicle and the vehicle to be followed so as to be a target position relationship. When the lighting of the brake lamp of the vehicle to be followed is detected, the execution unit changes the target position relationship so that the straddle-type vehicle moves away from the vehicle to be followed compared to the case where the lighting of the brake lamp of the vehicle to be followed is not detected, and executes a position relationship adjustment operation. When executing the position relationship adjustment operation, the execution unit performs a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp, based on the surrounding environment information of the straddle-type vehicle, and determines the target position relationship based on the result of the reliability determination. Thereby, it is possible to change the above-mentioned target position relationship in consideration of the reliability of detecting the lighting of the brake lamp. Therefore, the behavior of the straddle-type vehicle can be optimized.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0010] Hereinafter, the control device and control method according to the present invention will be described with reference to the drawings.

[0011] In the following, a control device used for a two-wheeled motorcycle will be described (see the straddle-type vehicle 1 in FIG. 1). However, the vehicle to be controlled by the control device according to the present invention may be a straddle-type vehicle other than a two-wheeled motorcycle. A straddle-type vehicle means a vehicle on which a rider rides straddling it. Straddle-type vehicles include, for example, motorcycles (motorcycles, autocycles), bicycles, etc. Motorcycles include vehicles with an engine as a power source, vehicles with an electric motor as a power source, etc. Motorcycles include, for example, motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the pedaling force of the rider applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0012] Further, in the following, a case where an engine (specifically, the engine 11 in FIG. 1 described later) is mounted as a drive source capable of outputting power for driving a drive wheel is described. However, other drive sources (for example, an electric motor) other than the engine may be mounted as the drive source, or a plurality of drive sources may be mounted.

[0013] Further, in the following, a case where a control unit that controls the hydraulic pressure of brake fluid (specifically, the hydraulic pressure control unit 12 in FIG. 1 described later) is adopted as a control unit for the braking force generated on the wheels is described. However, as a control unit for the braking force generated on the wheels, a control unit that controls the position of the braking part of the wheel itself by an electric signal (so-called brake-by-wire) may be adopted.

[0014] Further, the configurations and operations described below are examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

[0015] Further, in the following, the same or similar descriptions are appropriately simplified or omitted. Also, in each figure, the same or similar members or parts are either not labeled or are labeled with the same reference numerals. Also, the illustration of the detailed structure is appropriately simplified or omitted.

[0016] <Configuration of a straddle-type vehicle> With reference to FIGS. 1 to 3, the configuration of a straddle-type vehicle 1 according to an embodiment of the present invention will be described.

[0017] FIG. 1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle 1. The straddle-type vehicle 1 is a two-wheeled motorcycle corresponding to an example of the straddle-type vehicle according to the present invention. As shown in FIG. 1, the straddle-type vehicle 1 includes an engine 11, a hydraulic control unit 12, an input device 13, a surrounding environment sensor 14, a front wheel speed sensor 15, a rear wheel speed sensor 16, and a control device (ECU) 20.

[0018] The engine 11 corresponds to an example of a drive source of the straddle-type vehicle 1 and can output power for driving a drive wheel (specifically, the rear wheel). For example, the engine 11 is provided with one or a plurality of cylinders in which a combustion chamber is formed, a fuel injection valve that injects fuel toward the combustion chamber, and a spark plug. When fuel is injected from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chamber, and the air-fuel mixture is ignited by the spark plug and burns. Thereby, a piston provided in the cylinder reciprocates, and the crankshaft rotates. Further, a throttle valve is provided in the intake pipe of the engine 11, and the intake amount into the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve.

[0019] The hydraulic control unit 12 is a unit that undertakes the function of controlling the braking force generated on the wheels. For example, the hydraulic control unit 12 is provided on an oil path connecting the master cylinder and the wheel cylinder, and includes components (for example, a control valve and a pump) for controlling the brake hydraulic pressure of the wheel cylinder. By controlling the operation of the components of the hydraulic control unit 12, the braking force generated on the wheels is controlled. Note that the hydraulic control unit 12 may control the braking forces generated on both the front wheels and the rear wheels, or may control only the braking force generated on one of the front wheels and the rear wheels.

[0020] The input device 13 receives various operations by the rider. The input device 13 is provided on, for example, the handlebar and includes push buttons and the like used for the rider's operations. Information regarding the rider's operations using the input device 13 is output to the control device 20.

[0021] The surrounding environment sensor 14 detects surrounding environment information regarding the environment around the saddle-riding type vehicle 1. Specifically, the surrounding environment sensor 14 is provided at the front part of the saddle-riding type vehicle 1 and detects the surrounding environment information in front of the saddle-riding type vehicle 1. The surrounding environment information detected by the surrounding environment sensor 14 is output to the control device 20.

[0022] The surrounding environment information detected by the surrounding environment sensor 14 may be information related to the distance or orientation to a subject located around the saddle-riding type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be the characteristics of a subject located around the saddle-riding type vehicle 1 (for example, the type of the subject, the shape of the subject itself, marks attached to the subject, etc.). The surrounding environment sensor 14 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0023] Note that the surrounding environment information can also be detected by a surrounding environment sensor mounted on another vehicle or by infrastructure facilities. That is, the control device 20 can also acquire the surrounding environment information via wireless communication with another vehicle or infrastructure facilities.

[0024] The front wheel speed sensor 15 is a wheel speed sensor that detects the wheel speed of the front wheel (for example, the number of revolutions per unit time [rpm] of the front wheel or the moving distance per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 15 may detect other physical quantities that can be substantially converted into the wheel speed of the front wheel. The front wheel speed sensor 15 is provided on the front wheel.

[0025] The rear-wheel wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the rear wheel (for example, the number of revolutions per unit time [rpm] of the rear wheel or the moving distance per unit time [km / h], etc.), and outputs the detection result. The rear-wheel wheel speed sensor 16 may detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel. The rear-wheel wheel speed sensor 16 is provided on the rear wheel.

[0026] The control device 20 controls the behavior of the saddle-riding type vehicle 1. For example, part or all of the control device 20 is composed of a microcomputer, a microprocessor unit, a memory, etc. Also, for example, part or all of the control device 20 may be composed of something that can be updated such as firmware, or may be a program module executed according to instructions from a CPU or the like. The control device 20 may be, for example, one, or may be divided into a plurality.

[0027] FIG. 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in FIG. 2, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. Also, the control device 20 communicates with each device of the saddle-riding type vehicle 1.

[0028] The acquisition unit 21 acquires information from each device of the saddle-riding type vehicle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the input device 13, the surrounding environment sensor 14, the front-wheel wheel speed sensor 15, and the rear-wheel wheel speed sensor 16. Note that in this specification, the acquisition of information may include the extraction or generation (for example, calculation) of information.

[0029] The execution unit 22 executes various controls by controlling the operations of each device of the saddle-riding type vehicle 1. The execution unit 22 controls, for example, the operations of the engine 11 and the hydraulic control unit 12.

[0030] Here, the execution unit 22 can execute a position relationship adjustment operation based on the surrounding environment information of the straddle-type vehicle 1. The position relationship adjustment operation is an operation to adjust the position relationship between the straddle-type vehicle 1 and the following target vehicle to a target position relationship. Specifically, in the position relationship adjustment operation, the execution unit 22 can adjust the position relationship between the straddle-type vehicle 1 and the following target vehicle to a target position relationship by automatically controlling the speed of the straddle-type vehicle 1. By the position relationship adjustment operation, it is realized that the straddle-type vehicle 1 follows and runs with respect to the following target vehicle located in front of the straddle-type vehicle 1.

[0031] Hereinafter, an example in which the execution unit 22 executes adaptive cruise control as a control mode in which the position relationship adjustment operation is performed will be described. However, the position relationship adjustment operation may be an operation that adjusts the position relationship between the straddle-type vehicle 1 and the following target vehicle to a target position relationship, and may be performed in a control mode other than adaptive cruise control. For example, the position relationship adjustment operation may be performed in a control mode in which the accelerator operation by the rider is not canceled even if it is performed, and the target position relationship may change according to the operation amount of the accelerator operation.

[0032] FIG. 3 is a diagram showing a state in which the straddle-type vehicle 1 and the following target vehicle 2 are running. As shown in FIG. 3, the following target vehicle 2 runs in the same lane as the running lane of the straddle-type vehicle 1 and is located in front of the straddle-type vehicle 1. In the example of FIG. 3, the following target vehicle 2 is a four-wheel automobile. However, the following target vehicle 2 may be a vehicle other than a four-wheel automobile (for example, a straddle-type vehicle, etc.).

[0033] In adaptive cruise control, the execution unit 22 automatically controls the speed of the straddle-type vehicle 1 regardless of the acceleration / deceleration operation by the rider (that is, the accelerator operation and the brake operation). The execution unit 22 can control the speed of the straddle-type vehicle 1 based on, for example, the information on the speed of the straddle-type vehicle 1 obtained based on the wheel speed of the front wheels and the wheel speed of the rear wheels.

[0034] In adaptive cruise control, for example, a target distance which is a target value of the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed is set, and the execution unit 22 controls the speed of the saddle-riding type vehicle 1 so that the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed becomes the target distance. That is, the positional relationship where the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed becomes the target distance corresponds to the target positional relationship. Note that the inter-vehicle distance D1 may mean a distance in the direction along the lane (specifically, the driving lane of the saddle-riding type vehicle 1), or may mean a straight-line distance. For example, the acquisition unit 21 acquires the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed based on the surrounding environment information of the saddle-riding type vehicle 1, and the execution unit 22 can control the speed of the saddle-riding type vehicle 1 as described above based on the inter-vehicle distance D1 thus acquired.

[0035] Hereinafter, in adaptive cruise control, an example will be mainly described in which the speed of the saddle-riding type vehicle 1 is controlled so that the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed becomes the target distance, whereby the positional relationship between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed is adjusted to be the target positional relationship.

[0036] However, in adaptive cruise control, the execution unit 22 may control the speed of the saddle-riding type vehicle 1 so that, for example, the passing time difference between the saddle-riding type vehicle 1 and the target vehicle 2 to be followed (specifically, the time it takes for the saddle-riding type vehicle 1 to pass the current position of the target vehicle 2 from the current time) becomes the target passing time difference. In this case, the positional relationship where the passing time difference becomes the target passing time difference corresponds to the target positional relationship. For example, the acquisition unit 21 acquires the passing time difference based on the surrounding environment information of the saddle-riding type vehicle 1, and the execution unit 22 can control the speed of the saddle-riding type vehicle 1 as described above based on the passing time difference thus acquired.

[0037] During the execution of adaptive cruise control, for example, when the target vehicle 2 to be followed is not detected, the execution unit 22 controls the speed of the saddle-riding type vehicle 1 to become a preset target speed.

[0038] The execution unit 22 starts the adaptive cruise control, for example, triggered by an operation by a rider using the input device 13. Note that the adaptive cruise control is released, for example, when a specific operation such as a brake operation by the rider is performed.

[0039] <Operation of the control device> With reference to FIGS. 3 to 5, the operation of the control device 20 according to the embodiment of the present invention will be described.

[0040] As described above, the execution unit 22 of the control device 20 adjusts the positional relationship between the saddle-riding type vehicle 1 and the following target vehicle 2 to be a target positional relationship in the adaptive cruise control. For example, in the adaptive cruise control, the execution unit 22 controls the speed of the saddle-riding type vehicle 1 so that the inter-vehicle distance D1 between the saddle-riding type vehicle 1 and the following target vehicle 2 becomes the target distance. Thereby, while suppressing the saddle-riding type vehicle 1 from approaching the following target vehicle 2 too closely, it is realized that the saddle-riding type vehicle 1 follows and runs after the following target vehicle 2.

[0041] By the way, during the execution of the adaptive cruise control, for example, when the following target vehicle 2 suddenly brakes, the inter-vehicle distance D1 becomes shorter than the target distance, and a situation may occur where the saddle-riding type vehicle 1 approaches the following target vehicle 2. Here, as shown in FIG. 3, a brake lamp 3 is provided at the rear of the following target vehicle 2, and the brake lamp 3 lights up when the following target vehicle 2 brakes. Therefore, in order to improve safety by suppressing the above situation, the execution unit 22 detects the lighting of the brake lamp 3 of the following target vehicle 2 and changes the target positional relationship according to the detection result of the lighting of the brake lamp 3.

[0042] Specifically, when the execution unit 22 detects that the brake lamp 3 of the vehicle 2 to be followed is lit, it executes a position relationship adjustment operation in which the target position relationship is changed so that the straddle-type vehicle 1 moves away from the vehicle 2 to be followed, as compared with the case where the brake lamp 3 of the vehicle 2 to be followed is not detected. For example, when the execution unit 22 detects that the brake lamp 3 of the vehicle 2 to be followed is lit, it increases the target distance of the inter-vehicle distance D1 as compared with the case where the brake lamp 3 of the vehicle 2 to be followed is not detected.

[0043] For example, the execution unit 22 uses a camera as the surrounding environment sensor 14 to detect the lighting of the brake lamp 3 of the vehicle 2 to be followed. For example, the execution unit 22 performs image processing on an image captured by the camera and showing the rear part of the vehicle 2 to be followed, to determine the presence or absence of a portion estimated to be the lit brake lamp 3 in the image. Then, when the execution unit 22 determines that such a portion exists, it determines that the lighting of the brake lamp 3 of the vehicle 2 to be followed has been detected, and increases the target distance of the inter-vehicle distance D1.

[0044] Specifically, the execution unit 22 determines the presence or absence of a portion estimated to be the lit brake lamp 3 based on the luminance distribution (e.g., the positional relationship of the light-emitting portion, etc.) and the color distribution within the range occupied by the rear part of the vehicle 2 to be followed in the above image. For example, when the color of the region where the brake lamp 3 is assumed to be located within the range occupied by the rear part of the vehicle 2 to be followed in the above image is close to red and the luminance of the region is relatively high, the execution unit 22 determines that there is a portion estimated to be the lit brake lamp 3, and determines that the lighting of the brake lamp 3 of the vehicle 2 to be followed has been detected.

[0045] Here, even though the brake lamp 3 is not lit, there may be a case where it is erroneously determined that the brake lamp 3 is lit. For example, in the rear part of the vehicle 2 to be followed, there may be a lamp such as a fog lamp in addition to the brake lamp 3. In this case, for example, when the fog lamp is lit while the brake lamp 3 is not lit, a situation may occur where it is erroneously determined that the brake lamp 3 is lit. When such a situation occurs, even though the vehicle 2 to be followed is not braking, the target position relationship is changed so that the straddle-type vehicle 1 moves away from the vehicle 2 to be followed, and the behavior of the straddle-type vehicle 1 may become a behavior that does not conform to the rider's intention.

[0046] Therefore, in the present embodiment, when the execution unit 22 of the control device 20 executes the position relationship adjustment operation, a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp 3, is performed based on the surrounding environment information of the straddle-type vehicle 1, and the target position relationship is determined based on the result of the reliability determination, thereby realizing the optimization of the behavior of the straddle-type vehicle 1. Hereinafter, an example of the process performed by such a control device 20 will be described.

[0047] FIG. 4 is a flowchart showing an example of the flow of the process related to the reliability determination performed by the control device 20. Step S101 in FIG. 4 corresponds to the start of the control flow shown in FIG. 4. The control flow shown in FIG. 4 is started, for example, during the execution of the adaptive cruise control.

[0048] As will be described below, in the example of FIG. 4, the execution unit 22 basically performs a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp 3, and determines the target distance of the inter-vehicle distance D1 based on the result of the reliability determination. However, in the example of FIG. 4, the execution unit 22 performs a validity determination, which is a determination of the validity of the reliability determination, prior to the reliability determination, and if it is determined that the validity is lower than the standard, the target distance of the inter-vehicle distance D1 is determined without performing the reliability determination.

[0049] When the control flow shown in FIG. 4 starts, in step S102, the execution unit 22 performs a validity determination. In the validity determination, the execution unit 22 determines whether the validity of the reliability determination, which is the determination of the reliability of detecting the lighting of the brake lamp 3, is higher than a reference.

[0050] When the validity of the reliability determination is higher than the reference, it corresponds to the case where it can be determined that the result of the reliability determination is valid. On the other hand, when the validity of the reliability determination is lower than the reference, it corresponds to the case where it can be determined that the result of the reliability determination is not valid.

[0051] As described later, the reliability determination is performed based on the surrounding environment information of the straddle-type vehicle 1. Therefore, in a situation where it is easy to obtain many types and a large number of surrounding environment information, the information serving as the basis for the reliability determination is sufficient, and the validity of the reliability determination becomes high. On the other hand, in a situation where it is difficult to sufficiently obtain the surrounding environment information, the information serving as the basis for the reliability determination is insufficient, and the validity of the reliability determination becomes low.

[0052] In step S102, the execution unit 22 determines, for example, in the validity determination, whether it is a situation where it is easy to obtain many types and a large number of surrounding environment information or a situation where it is difficult to sufficiently obtain the surrounding environment information, and determines whether the validity of the reliability determination is higher than the reference according to the determination result. For example, when the number of lanes of the road on which the straddle-type vehicle 1 is traveling is two or more, the execution unit 22 determines that it is a situation where it is easy to obtain many types and a large number of surrounding environment information due to the ability to obtain information on the vehicles in the adjacent lanes, etc., and determines that the validity of the reliability determination is higher than the reference. On the other hand, when the number of lanes of the road on which the straddle-type vehicle 1 is traveling is only one, the execution unit 22 determines that it is a situation where it is difficult to sufficiently obtain the surrounding environment information due to the inability to obtain information on the vehicles in the adjacent lanes, etc., and determines that the validity of the reliability determination is lower than the reference. Note that the acquisition unit 21 can obtain information on the number of lanes of the road on which the straddle-type vehicle 1 is traveling based on, for example, the surrounding environment information of the straddle-type vehicle 1 or map information.

[0053] When it is determined that the effectiveness of the reliability determination is lower than the standard (step S102 / NO), the process proceeds to step S103. Then, in step S103, the execution unit 22 permits the change of the target distance of the inter-vehicle distance D1 associated with the detection of the lighting of the brake lamp 3, and returns to step S102. In this case, when the lighting of the brake lamp 3 of the following target vehicle 2 is detected, the execution unit 22 increases the target distance of the inter-vehicle distance D1 compared to the case where the lighting of the brake lamp 3 of the following target vehicle 2 is not detected.

[0054] On the other hand, when it is determined that the effectiveness of the reliability determination is higher than the standard (step S102 / YES), the process proceeds to step S104. Then, in step S104, the execution unit 22 performs a reliability determination. In the reliability determination, the execution unit 22 determines whether the reliability of the detection of the lighting of the brake lamp 3 is lower than the standard.

[0055] When the reliability of the detection of the lighting of the brake lamp 3 is lower than the standard, it corresponds to the case where it can be determined that the detection result of the lighting of the brake lamp 3 is not reliable. That is, in this case, when the lighting of the brake lamp 3 is detected, it can be determined that there is a possibility that the lighting of a lamp other than the brake lamp 3 is erroneously detected.

[0056] On the other hand, when the reliability of the detection of the lighting of the brake lamp 3 is higher than the standard, it corresponds to the case where it can be determined that the detection result of the lighting of the brake lamp 3 is reliable. That is, in this case, when the lighting of the brake lamp 3 is detected, it can be determined that the lighting of the brake lamp 3 is correctly detected and the lighting of a lamp other than the brake lamp 3 is not erroneously detected.

[0057] In step S104, the execution unit 22 determines, in the reliability determination, whether the reliability of detecting the lighting of the brake lamp 3 is lower than a standard based on the surrounding environment information of the straddle-type vehicle 1. For example, in the reliability determination, the execution unit 22 uses a pre-learned learning model to determine whether the reliability of detecting the lighting of the brake lamp 3 is lower than the standard. For example, when the surrounding environment information is input into the above learning model, a value indicating the reliability of detecting the lighting of the brake lamp 3 is output. The learning model is constructed by, for example, an existing machine learning algorithm.

[0058] Here, the possibility that the following target vehicle 2 applies brakes changes according to the environment around the straddle-type vehicle 1. Therefore, for example, when it can be determined based on the surrounding environment information that the possibility that the following target vehicle 2 applies brakes is high, the above learning model outputs information (for example, a large value as a value indicating reliability) indicating that the reliability of detecting the lighting of the brake lamp 3 is high compared to the case where it can be determined based on the surrounding environment information that the possibility that the following target vehicle 2 applies brakes is low.

[0059] Hereinafter, an example in which a pre-learned learning model is used in the reliability determination will be mainly described. However, in the reliability determination, the execution unit 22 may determine whether the reliability of detecting the lighting of the brake lamp 3 is lower than the standard without using a pre-learned learning model.

[0060] The execution unit 22 can perform the reliability determination based on various surrounding environment information. Hereinafter, examples of the surrounding environment information that can be used in the reliability determination will be described.

[0061] For example, the execution unit 22 may perform the reliability determination using, as the surrounding environment information, behavior information that is information regarding the behavior of other vehicles other than the following target vehicle 2.

[0062] For example, the execution unit 22 may perform a reliability determination using, as behavior information, information regarding the speeds of other vehicles around the saddle-riding type vehicle 1. For example, when the speeds of a plurality of other vehicles around the saddle-riding type vehicle 1 are substantially the same and fall within a predetermined range, it can be determined that a traffic jam has occurred and there is a high possibility that the following target vehicle 2 applies the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard. Further, for example, when other vehicles traveling in an adjacent lane adjacent to the traveling lane of the saddle-riding type vehicle 1 are decelerating, there is a high possibility that the vehicle traveling in the traveling lane of the saddle-riding type vehicle 1 also decelerates, and it can be determined that there is a high possibility that the following target vehicle 2 applies the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0063] For example, the execution unit 22 may perform a reliability determination using, as behavior information, information regarding the relative position of other vehicles around the saddle-riding type vehicle 1 with respect to the saddle-riding type vehicle 1. For example, in an adjacent lane, when the same other vehicle travels back and forth between a position in front of the saddle-riding type vehicle 1 and a position behind the saddle-riding type vehicle 1, it can be determined that a traffic jam has occurred and there is a high possibility that the following target vehicle 2 applies the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0064] Note that the behavior information is not limited to the above examples, and may be, for example, the acceleration of other vehicles, the relative distance of other vehicles with respect to the saddle-riding type vehicle 1, the relative speed, the relative acceleration, etc. Further, the above relative distance, relative speed, and relative acceleration may be components in the lane width direction.

[0065] Further, the execution unit 22 may perform a reliability determination using, as ambient environment information, lighting state information which is information regarding the lighting states of lamps of other vehicles other than the following target vehicle 2.

[0066] For example, the execution unit 22 may perform reliability determination using, as lighting state information, information on the lighting state of the brake lamps of other vehicles around the straddle-type vehicle 1. For example, when the brake lamps of a plurality of other vehicles around the straddle-type vehicle 1 are lit, it can be determined that traffic congestion has occurred and there is a high possibility that the following target vehicle 2 is applying the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0067] Note that the lighting state information is not limited to the above example, and may be, for example, information on the lighting state of the turn signal lamps of other vehicles.

[0068] Further, the execution unit 22 may perform reliability determination using, for example, road information as ambient environment information. Road information includes various information related to the road and may include, for example, the various information exemplified below. For example, the acquisition unit 21 may acquire the following various road information based on information such as the driving state of other vehicles around the straddle-type vehicle 1, electronic billboards, and road signs acquired using the ambient environment sensor 14. Also, the acquisition unit 21 can also acquire the following various road information via wireless communication with other vehicles or infrastructure facilities.

[0069] For example, the execution unit 22 may perform reliability determination using traffic congestion information as road information. For example, when traffic congestion has occurred, it can be determined that there is a high possibility that the following target vehicle 2 is applying the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0070] For example, the execution unit 22 may perform a reliability determination using information on events that are causes of traffic jams as road information. Examples of the above events include, for example, road construction or traffic accidents. For example, when the event occurs on the road on which the straddle-type vehicle 1 is traveling or in the vicinity thereof, it can be determined that a traffic jam has occurred and there is a high possibility that the following target vehicle 2 will apply the brakes. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0071] For example, the execution unit 22 may perform a reliability determination using information on road merges as road information. For example, when a merge section between the road on which the straddle-type vehicle 1 is traveling and another road exists in the vicinity of the straddle-type vehicle 1, it can be determined that there is a high possibility that the following target vehicle 2 will apply the brakes in order to avoid a collision with a vehicle merging from another road. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0072] For example, the execution unit 22 may perform a reliability determination using information on speed limits as road information. For example, when the upper speed limit set on the road on which the straddle-type vehicle 1 is traveling is low, it can be determined that there is a high possibility that the following target vehicle 2 will apply the brakes because a traffic jam is likely to occur. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0073] For example, the execution unit 22 may perform a reliability determination using information on the road surface as road information. For example, when the road surface of the road on which the straddle-type vehicle 1 is traveling is wet (for example, when it is raining, etc.), it can be determined that there is a high possibility that the following target vehicle 2 will apply the brakes because a traffic jam is likely to occur. Therefore, in such a case, the execution unit 22 may determine that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard.

[0074] In the above, examples of ambient environment information that can be used in reliability determination were described. Here, the execution unit 22 may perform reliability determination using all of the ambient environment information described above. Further, the execution unit 22 may perform reliability determination using any partial ambient environment information among the ambient environment information described above. Further, the execution unit 22 may perform reliability determination using, in addition to, or instead of, the ambient environment information described above, ambient environment information other than the ambient environment information described above.

[0075] When it is determined that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard (step S104 / NO), the process proceeds to step S103. Then, in step S103, the execution unit 22 permits the change of the target distance of the inter-vehicle distance D1 associated with the detection of the lighting of the brake lamp 3, and returns to step S102. In this case, when the lighting of the brake lamp 3 of the following target vehicle 2 is detected, the execution unit 22 increases the target distance of the inter-vehicle distance D1 as compared with the case where the lighting of the brake lamp 3 of the following target vehicle 2 is not detected.

[0076] On the other hand, when it is determined that the reliability of detecting the lighting of the brake lamp 3 is lower than the standard (step S104 / YES), the process proceeds to step S105. Then, in step S105, the execution unit 22 prohibits the change of the target distance of the inter-vehicle distance D1 associated with the detection of the lighting of the brake lamp 3, and returns to step S102. In this case, even when the lighting of the brake lamp 3 of the following target vehicle 2 is detected, the execution unit 22 maintains the target distance of the inter-vehicle distance D1 at the same target distance as the case where the lighting of the brake lamp 3 of the following target vehicle 2 is not detected.

[0077] As described above, in the present embodiment, when executing the position relationship adjustment operation, the execution unit 22 performs a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp 3, based on the surrounding environment information of the straddle-type vehicle 1, and determines the target position relationship based on the result of the reliability determination. Thereby, it is possible to change the above-described target position relationship in consideration of the reliability of detecting the lighting of the brake lamp 3. For example, it is possible to change the above-described target position relationship after determining whether the lighting of the brake lamp 3 is correctly detected or whether the lighting of a lamp other than the brake lamp 3 is erroneously detected. Therefore, the behavior of the straddle-type vehicle 1 can be optimized.

[0078] Here, from the viewpoint of more effectively optimizing the behavior of the straddle-type vehicle 1, it is preferable to evaluate the result of determining the target position relationship based on the result of the reliability determination (step S104 in the example of FIG. 4), and execute the position relationship adjustment operation based on the result of the evaluation. Specifically, after executing the first position relationship adjustment operation, which is a position relationship adjustment operation for adjusting the position relationship between the straddle-type vehicle 1 and the following target vehicle 2 so as to be the target position relationship determined based on the result of the reliability determination, the execution unit 22 performs an evaluation of the first position relationship adjustment operation, and based on the result of the evaluation, it is preferable to execute the second position relationship adjustment operation, which is a position relationship adjustment operation executed after the execution of the first position relationship adjustment operation. Hereinafter, such processing will be described with reference to FIG. 5.

[0079] FIG. 5 is a flowchart showing an example of the flow of processing related to the evaluation of the position relationship adjustment operation performed by the control device 20. Step S201 in FIG. 5 corresponds to the start of the control flow shown in FIG. 5. Step S204 in FIG. 5 corresponds to the end of the control flow shown in FIG. 5. The control flow shown in FIG. 5 is performed after the execution of the first position relationship adjustment operation. In the example of FIG. 4 described above, the reliability determination is performed in step S104, and the position relationship adjustment operation executed after the target position relationship is determined based on the result of the reliability determination in step S103 or step S105 corresponds to the first position relationship adjustment operation.

[0080] When the control flow shown in FIG. 5 starts, in step S202, the execution unit 22 evaluates the first position relationship adjustment operation.

[0081] In step S202, the execution unit 22 evaluates whether the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is appropriate based on, for example, the deceleration of the straddle-type vehicle 1 during the execution of the first position relationship adjustment operation. For example, when the deceleration of the straddle-type vehicle 1 during the execution of the first position relationship adjustment operation is within a reference range having an upper limit value and a lower limit value, the execution unit 22 evaluates that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is appropriate. On the other hand, when the deceleration of the straddle-type vehicle 1 during the execution of the first position relationship adjustment operation deviates from the above reference range, the execution unit 22 evaluates that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is not appropriate.

[0082] For example, in the reliability determination, if it is determined that the reliability of the detection of the lighting of the brake lamp 3 is lower than the standard, and as a result, the change of the target distance of the inter-vehicle distance D1 associated with the detection of the lighting of the brake lamp 3 is prohibited, the deceleration of the straddle-type vehicle 1 may become larger than the upper limit value of the above reference range during the execution of the first position relationship adjustment operation. In this case, for example, although it is determined that the following target vehicle 2 is unlikely to apply the brakes, in fact, the following target vehicle 2 is applying the brakes, the target distance of the inter-vehicle distance D1 is excessively short, the straddle-type vehicle 1 approaches the following target vehicle 2, and the deceleration of the straddle-type vehicle 1 becomes excessively large.

[0083] Further, for example, in the reliability determination, if it is determined that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard, and the change of the target distance of the inter-vehicle distance D1 associated with the detection of the lighting of the brake lamp 3 is permitted and the target distance is changed to be longer, as a result, during the execution of the first position relationship adjustment operation, the deceleration of the straddle-type vehicle 1 may become smaller than the lower limit value of the above standard range. In this case, for example, although it is determined that the following target vehicle 2 is likely to apply the brake, actually the following target vehicle 2 is not applying the brake, the target distance of the inter-vehicle distance D1 becomes excessively long, the straddle-type vehicle 1 moves away from the following target vehicle 2, and the deceleration of the straddle-type vehicle 1 becomes excessively small.

[0084] Note that the execution unit 22 may evaluate whether the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is appropriate based on, for example, the inter-vehicle distance D1 between the straddle-type vehicle 1 and the following target vehicle 2 during the execution of the first position relationship adjustment operation. For example, when the inter-vehicle distance D1 is within the standard range having an upper limit value and a lower limit value during the execution of the first position relationship adjustment operation, the execution unit 22 may evaluate that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is appropriate. On the other hand, when the inter-vehicle distance D1 deviates from the above standard range during the execution of the first position relationship adjustment operation, the execution unit 22 may evaluate that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is not appropriate.

[0085] Next to step S202, in step S203, the execution unit 22 performs learning of the learning model used in the reliability determination performed in step S104 of FIG. 4 described above using the evaluation result of the first position relationship adjustment operation, and the control flow shown in FIG. 5 ends.

[0086] In step S203, when it is evaluated in step S202 that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is not appropriate, the execution unit 22 rewrites the learning model used in the reliability determination so as to obtain a reliability determination result such that the behavior of the straddle-type vehicle 1 in the future position relationship adjustment operation becomes appropriate. On the other hand, when it is evaluated in step S202 that the behavior of the straddle-type vehicle 1 in the first position relationship adjustment operation is appropriate, the execution unit 22 does not rewrite the learning model used in the reliability determination.

[0087] For example, as a result of determining that the possibility that the following target vehicle 2 applies brakes is low, although it is determined in the reliability determination that the reliability of detecting the lighting of the brake lamp 3 is lower than the standard, actually the following target vehicle 2 is applying brakes, and there may be a case where the deceleration of the straddle-type vehicle 1 in step S202 becomes larger than the upper limit value of the standard range. In this case, the execution unit 22 inputs the same information as the surrounding environment information input to the learning model in this reliability determination to the above learning model, and rewrites the learning model used in the reliability determination so that a result that the reliability of detecting the lighting of the brake lamp 3 in the reliability determination is higher than the standard can be obtained.

[0088] Also, for example, as a result of determining that the possibility that the following target vehicle 2 applies brakes is high, although it is determined in the reliability determination that the reliability of detecting the lighting of the brake lamp 3 is higher than the standard, actually the following target vehicle 2 is not applying brakes, and there may be a case where the deceleration of the straddle-type vehicle 1 in step S202 becomes smaller than the lower limit value of the standard range. In this case, the execution unit 22 inputs the same information as the surrounding environment information input to the learning model in this reliability determination to the above learning model, and rewrites the learning model used in the reliability determination so that a result that the reliability of detecting the lighting of the brake lamp 3 in the reliability determination is lower than the standard can be obtained.

[0089] The processing examples performed by the control device 20 have been described above. However, the processing performed by the control device 20 may be processing in which changes are made to the processing examples described above.

[0090] For example, in the above description, when the execution unit 22 detects that the brake lamp 3 of the target vehicle 2 is lit, the target distance of the inter-vehicle distance D1 is made longer compared to the case where the brake lamp 3 of the target vehicle 2 is not detected, and the target distance of the inter-vehicle distance D1 is determined based on the result of the reliability determination. However, when the execution unit 22 detects that the brake lamp 3 of the target vehicle 2 is lit, the target passing time difference may be made longer compared to the case where the brake lamp 3 of the target vehicle 2 is not detected, and the target passing time difference may be determined based on the result of the reliability determination. In that case, the execution unit 22 can perform the process of replacing the target distance with the target passing time difference for each process described above.

[0091] Also, for example, in the above description, when the execution unit 22 determines that the reliability of detecting the lighting of the brake lamp 3 is high when performing the position relationship adjustment operation, the change of the target position relationship is permitted, and when it is determined that the above reliability is low, the change of the target position relationship is prohibited. However, when the execution unit 22 performs the position relationship adjustment operation, when it is determined that the above reliability is high, the degree of change of the target position relationship may be increased compared to the case where it is determined that the above reliability is low.

[0092] For example, when it is determined in step S104 of FIG. 4 that the above reliability is lower than the reference, the execution unit 22 does not prohibit the change of the target distance of the inter-vehicle distance D1, but the degree of change of the target distance may be made smaller compared to the case where it is determined in step S104 of FIG. 4 that the above reliability is higher than the reference. That is, when the lighting of the brake lamp 3 is detected in a state where it is determined that the above reliability is lower than the reference, although the change to increase the target distance is made, the target distance after the change is shorter compared to the case where the lighting of the brake lamp 3 is detected in a state where it is determined that the above reliability is higher than the reference. Note that the execution unit 22 may change the degree of change of the target position relationship in more stages (that is, three or more stages) or continuously according to the above reliability.

[0093] Also, for example, in the above, an example was described in which the execution unit 22 performs learning of a learning model used in the reliability determination performed in step S104 of FIG. 4 described above using the result of evaluation of the first position relationship adjustment operation. However, the execution unit 22 may execute a second position relationship adjustment operation, which is a position relationship adjustment operation executed after the execution of the first position relationship adjustment operation, based on the result of evaluation of the first position relationship adjustment operation, and the method of using the result of evaluation of the first position relationship adjustment operation is not limited to the above example. For example, the execution unit 22 may adjust the degree of change in the target position relationship associated with the detection of the lighting of the brake lamp 3 based on the result of evaluation of the first position relationship adjustment operation. For example, if the change in the target position relationship is performed with the detection of the lighting of the brake lamp 3, but the deceleration of the straddle-type vehicle 1 becomes greater than the upper limit value of the above reference range during the execution of the first position relationship adjustment operation, the execution unit 22 may increase the degree of change in the target position relationship.

[0094] Also, for example, in addition to the detection result of the lighting of the brake lamp 3 of the following target vehicle 2, the execution unit 22 may change the target position relationship based on the behavior of other vehicles other than the following target vehicle 2. For example, when the execution unit 22 determines that there is a high possibility that another vehicle traveling in the adjacent lane will change lanes in front of the straddle-type vehicle 1, the execution unit 22 may perform a change to increase the target distance of the inter-vehicle distance D1.

[0095] <Effect of the control device> The effect of the control device 20 according to the embodiment of the present invention will be described.

[0096] The control device 20 includes an execution unit 22 that executes a position relationship adjustment operation for adjusting the position relationship between the straddle-type vehicle 1 and the target vehicle 2 to a target position relationship. Further, when the lighting of the brake lamp 3 of the target vehicle 2 is detected, the execution unit 22 changes the target position relationship so that the straddle-type vehicle 1 moves away from the target vehicle 2 as compared with the case where the lighting of the brake lamp 3 of the target vehicle 2 is not detected. Then, when executing the position relationship adjustment operation, the execution unit 22 performs a reliability determination, which is a determination of the reliability of the detection of the lighting of the brake lamp 3, based on the surrounding environment information of the straddle-type vehicle 1, and determines the target position relationship based on the result of the reliability determination. Thereby, it is possible to change the above-mentioned target position relationship in consideration of the reliability of the detection of the lighting of the brake lamp 3. For example, after determining whether the lighting of the brake lamp 3 is correctly detected or the lighting of a lamp other than the brake lamp 3 is erroneously detected, the above-mentioned change in the target position relationship can be made. Therefore, the behavior of the straddle-type vehicle 1 can be optimized.

[0097] Preferably, in the control device 20, when executing the position relationship adjustment operation, the execution unit 22 permits the change of the target position relationship when it is determined that the above-mentioned reliability is high, and prohibits the change of the target position relationship when it is determined that the above-mentioned reliability is low. Thereby, appropriately realizing the change of the above-mentioned target position relationship in consideration of the reliability of the detection of the lighting of the brake lamp 3. Therefore, appropriately realizing the optimization of the behavior of the straddle-type vehicle 1.

[0098] Preferably, in the control device 20, when executing the position relationship adjustment operation, when it is determined that the above-mentioned reliability is high, the degree of change of the target position relationship is increased as compared with the case where it is determined that the above-mentioned reliability is low. Thereby, appropriately realizing the change of the above-mentioned target position relationship in consideration of the reliability of the detection of the lighting of the brake lamp 3. Therefore, appropriately realizing the optimization of the behavior of the straddle-type vehicle 1.

[0099] Preferably, in the control device 20, the execution unit 22 performs an effectiveness determination, which is a determination of the effectiveness of the reliability determination, and determines the target positional relationship based on the result of the effectiveness determination when executing the positional relationship adjustment operation. Thereby, the change of the above-mentioned target positional relationship can be performed in consideration of the effectiveness of the reliability determination. For example, the change of the above-mentioned target positional relationship can be performed after determining whether it is a situation where it is easy to acquire a lot of ambient environment information or a situation where it is difficult to sufficiently acquire ambient environment information. Therefore, the behavior of the straddle-type vehicle 1 can be more effectively optimized.

[0100] However, the execution unit 22 does not necessarily have to perform an effectiveness determination, which is a determination of the effectiveness of the reliability determination. For example, step S102 may be omitted from the example of FIG. 4 described above.

[0101] Preferably, in the control device 20, when the execution unit 22 determines that the above-mentioned effectiveness is high, it permits the determination of the target positional relationship based on the result of the reliability determination, and when it determines that the above-mentioned effectiveness is low, it prohibits the determination of the target positional relationship based on the result of the reliability determination. Thereby, the change of the above-mentioned target positional relationship is appropriately realized in consideration of the effectiveness of the reliability determination. Therefore, the behavior of the straddle-type vehicle 1 is appropriately realized more effectively optimized.

[0102] However, the method of using the result of the effectiveness determination is not limited to the above example. For example, the execution unit 22 may adjust the degree of change of the target positional relationship based on the above-mentioned effectiveness.

[0103] Preferably, in the control device 20, after executing a first position relationship adjustment operation, which is a position relationship adjustment operation for adjusting the position relationship between the saddle-riding type vehicle 1 and the following target vehicle 2 so as to be a target position relationship determined based on the result of the reliability determination, the execution unit 22 evaluates the first position relationship adjustment operation, and based on the result of the evaluation, executes a second position relationship adjustment operation, which is a position relationship adjustment operation executed after the execution of the first position relationship adjustment operation. Thereby, the second position relationship adjustment operation can be executed in consideration of the behavior of the saddle-riding type vehicle 1 when the first position relationship adjustment operation is actually executed. Therefore, the behavior of the saddle-riding type vehicle 1 can be more effectively optimized.

[0104] Preferably, in the control device 20, the surrounding environment information includes information regarding the behavior of other vehicles other than the following target vehicle 2. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the behavior of other vehicles.

[0105] Preferably, in the control device 20, the surrounding environment information includes information regarding the lighting state of lamps of other vehicles other than the following target vehicle 2. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the lighting state of lamps of other vehicles.

[0106] Preferably, in the control device 20, the surrounding environment information includes road information. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the road information.

[0107] Preferably, in the control device 20, the road information includes traffic jam information. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the traffic jam.

[0108] Preferably, in the control device 20, the road information includes information on events that cause traffic jams. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the events that cause traffic jams.

[0109] Preferably, in the control device 20, the road information includes information on road merges. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of road merges.

[0110] Preferably, in the control device 20, the road information includes speed limit information. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the speed limit.

[0111] Preferably, in the control device 20, the road information includes road surface information. Thereby, in the reliability determination, the reliability of detecting the lighting of the brake lamp 3 can be appropriately determined in consideration of the road surface information.

[0112] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

Explanation of Reference Numerals

[0113] 1 saddle-riding type vehicle, 2 following target vehicle, 3 brake lamp, 11 engine, 12 hydraulic control unit, 13 input device, 14 surrounding environment sensor, 15 front wheel speed sensor, 16 rear wheel speed sensor, 20 control device, 21 acquisition unit, 22 execution unit.

Claims

1. A control device (20) for controlling the behavior of a straddle-type vehicle (1), comprising: an execution unit (22) that performs a position relationship adjustment operation for adjusting the position relationship between the straddle-type vehicle (1) and a following target vehicle (2) to a target position relationship; when the lighting of the brake lamp (3) of the following target vehicle (2) is detected, the execution unit (22) changes the target position relationship so that the straddle-type vehicle (1) moves away from the following target vehicle (2) compared to the case where the lighting of the brake lamp (3) of the following target vehicle (2) is not detected, and performs the position relationship adjustment operation; when performing the position relationship adjustment operation, the execution unit (22) performs a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp (3), based on the surrounding environment information of the straddle-type vehicle (1); determines the target position relationship based on the result of the reliability determination; A control device.

2. when performing the position relationship adjustment operation, the execution unit (22) permits the change of the target position relationship when it is determined that the reliability is high, and prohibits the change of the target position relationship when it is determined that the reliability is low; The control device according to claim 1.

3. when performing the position relationship adjustment operation, when it is determined that the reliability is high, the execution unit (22) increases the degree of change of the target position relationship compared to the case where it is determined that the reliability is low; The control device according to claim 1.

4. The execution unit (22) performs a validity determination, which is a determination of the validity of the reliability determination; when performing the position relationship adjustment operation, determines the target position relationship based on the result of the validity determination; The control device according to claim 1.

5. when it is determined that the validity is high, the execution unit (22) permits the determination of the target position relationship based on the result of the reliability determination, and prohibits the determination of the target position relationship based on the result of the reliability determination when it is determined that the validity is low; The control device according to claim 4.

6. The execution unit (22) performs an evaluation of the first position relationship adjustment operation, which is the position relationship adjustment operation for adjusting the position relationship to the target position relationship determined based on the result of the reliability determination, after executing the first position relationship adjustment operation; Based on the result of the evaluation, execute a second positional relationship adjustment operation, which is the positional relationship adjustment operation executed after the execution of the first positional relationship adjustment operation. The control device according to claim 1.

7. The surrounding environment information includes information regarding the behavior of other vehicles other than the vehicle to be followed (2). The control device according to any one of claims 1 to 6.

8. The surrounding environment information includes information regarding the lighting state of lamps of other vehicles other than the vehicle to be followed (2). The control device according to any one of claims 1 to 6.

9. The surrounding environment information includes road information. The control device according to any one of claims 1 to 6.

10. The road information includes traffic jam information. The control device according to claim 9.

11. The road information includes information on events that are causes of traffic jams. The control device according to claim 9.

12. The road information includes information on road merges. The control device according to claim 9.

13. The road information includes speed limit information. The control device according to claim 9.

14. The road information includes road surface information. The control device according to claim 9.

15. A control method for controlling the behavior of a straddle-type vehicle (1), an execution unit (22) of a control device (20) executes a positional relationship adjustment operation for adjusting the positional relationship between the straddle-type vehicle (1) and the vehicle to be followed (2) to a target positional relationship, when the lighting of the brake lamp (3) of the vehicle to be followed (2) is detected, the execution unit (22) changes the target positional relationship so that the straddle-type vehicle (1) moves away from the vehicle to be followed (2) compared to the case where the lighting of the brake lamp (3) of the vehicle to be followed (2) is not detected, and executes the positional relationship adjustment operation, when executing the positional relationship adjustment operation, the execution unit (22) performs a reliability determination, which is a determination of the reliability of detecting the lighting of the brake lamp (3), based on the surrounding environment information of the straddle-type vehicle (1), and determines the target positional relationship based on the result of the reliability determination. Control method.

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