Control device and control method

Abstract

To provide a control device and a control method which can improve safety of a saddle-riding type vehicle.SOLUTION: In a control device and a control method, an execution part of the control device executes rider support operation for supporting driving by a rider (2) on the basis of a positional relation between a saddle-riding type vehicle (1) and an object, the acquisition part of the control device acquires direction information on a direction at which the rider (2) faces, and the execution part determines a control parameter of the rider support operation, on the basis of the direction information.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

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

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 an assistance operation that assists the driving by a driver based on the positional relationship between the vehicle and an object (for example, a target vehicle). And by applying such an assistance operation to a straddle-type vehicle, it is conceivable to improve the safety of the straddle-type vehicle. Here, in a straddle-type vehicle, the need to improve safety is particularly high compared to a four-wheel automobile or the like. Therefore, it is desired to more effectively improve the safety of a straddle-type vehicle.

[0005] The present invention has been made against the background of the above problems, and provides a control device and a control method capable of improving the safety of a straddle-type vehicle.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device for a rider support system that supports the operation by a rider of a saddle-riding type vehicle, and includes an execution unit that executes a rider support operation for supporting the operation by the rider based on the positional relationship between the saddle-riding type vehicle and the target, and further includes an acquisition unit that acquires direction information regarding the direction in which the rider is facing. The execution unit determines a control parameter for the rider support operation based on the direction information.

[0007] The control method according to the present invention is a control method for a rider support system that supports the operation by a rider of a saddle-riding type vehicle. An execution unit of a control device executes a rider support operation for supporting the operation by the rider based on the positional relationship between the saddle-riding type vehicle and the target. Further, an acquisition unit of the control device acquires direction information regarding the direction in which the rider is facing. The execution unit determines a control parameter for the rider support operation based on the direction information.

Effect of the Invention

[0008] In the control device and the control method according to the present invention, an execution unit of the control device executes a rider support operation for supporting the operation by the rider based on the positional relationship between the saddle-riding type vehicle and the target. Further, an acquisition unit of the control device acquires direction information regarding the direction in which the rider is facing. The execution unit determines a control parameter for the rider support operation based on the direction information. Thereby, the above-described rider support operation based on the positional relationship can be executed in consideration of the direction in which the rider is facing. Therefore, the safety of the saddle-riding type vehicle can be improved.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0010] Hereinafter, the control device and the 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), but 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. Straddle-type vehicles include, for example, motorcycles (motorcycles, three-wheeled motorcycles), 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] Also, in the following, the 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 the drive wheels is described, but 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] 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 wheel is described. However, as a control unit for the braking force generated on the wheel, 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] In addition, 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] 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 numeral. Also, the illustration of the detailed structure is appropriately simplified or omitted.

[0016] <Configuration of a straddle-type vehicle> With reference to FIGS. 1 and 2, the configuration of the 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 the 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 pressure control unit 12, a notification device 13, a camera 14, a surrounding environment sensor 15, an inertial measurement unit (IMU) 16, a front wheel speed sensor 17, a rear wheel speed sensor 18, and a control device (ECU) 20.

[0018] The straddle-type vehicle 1 includes a rider assistance system 10 that assists the operation of the straddle-type vehicle 1 by the rider 2 of the straddle-type vehicle 1. The rider assistance system 10 includes the above-described components (that is, the engine 11, the hydraulic pressure control unit 12, the notification device 13, the camera 14, the surrounding environment sensor 15, the inertial measurement unit 16, the front wheel speed sensor 17, the rear wheel speed sensor 18, and the control device 20).

[0019] The engine 11 corresponds to an example of a drive source of the saddle-ride type vehicle 1 and is capable of outputting power for driving the wheels. For example, the engine 11 is provided with one or a plurality of cylinders in which combustion chambers are formed, a fuel injection valve for injecting fuel toward the combustion chambers, and a spark plug. By injecting fuel from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chambers, and the air-fuel mixture is ignited by the spark plug and burns. As a result, 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 air amount into the combustion chambers changes according to the throttle opening which is the opening degree of the throttle valve.

[0020] The hydraulic control unit 12 is a unit responsible for 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 cylinders and includes components (for example, control valves and pumps) for controlling the brake hydraulic pressure of the wheel cylinders. 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.

[0021] The notification device 13 notifies the rider 2. The notification device 13 has a sound output function and a display function. The sound output function is a function of outputting sound and is realized, for example, by a speaker. The display function is a function of visually displaying information and is realized, for example, by a liquid crystal display or a lamp or the like.

[0022] The camera 14 is provided in front of the riding position (specifically, the assumed riding position) of the rider 2 of the straddle-type vehicle 1 and faces rearward. Specifically, the camera 14 is provided in the front part of the body of the straddle-type vehicle 1 in a posture facing rearward. The field of view of the camera 14 faces rearward. The camera 14 images the rider 2 from the front. Specifically, the camera 14 images at least the part of the rider 2 including the face.

[0023] The camera 14 includes, for example, an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor and an image processing device such as an ISP (Image Signal Processor).

[0024] For example, the camera 14 may be a camera mounted on the straddle-type vehicle 1. In this case, the camera 14 is basically detachable from the straddle-type vehicle 1. Also, for example, the camera 14 may be a camera mounted on a portable terminal. In this case, for example, a portable terminal such as a smartphone held by the rider 2 is attached to the straddle-type vehicle 1, and the rider 2 is imaged by the camera 14 mounted on the portable terminal.

[0025] The ambient environment sensor 15 detects ambient environment information regarding the environment around the straddle-type vehicle 1. Specifically, the ambient environment sensor 15 is provided at the front part of the straddle-type vehicle 1 and detects the ambient environment information in front of the straddle-type vehicle 1. The ambient environment information detected by the ambient environment sensor 15 is output to the control device 20.

[0026] The ambient environment information detected by the ambient environment sensor 15 may be information related to the distance or azimuth to a subject located around the straddle-type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be a feature of a subject located around the straddle-type vehicle 1 (for example, the type of the subject, the shape of the subject itself, a mark attached to the subject, etc.). The ambient environment sensor 15 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0027] Note that the ambient environment information can also be detected by ambient environment sensors mounted on other vehicles or by infrastructure facilities. That is, the control device 20 can also acquire the ambient environment information via wireless communication with other vehicles or infrastructure facilities.

[0028] The inertial measurement device 16 includes a three-axis gyro sensor and three-direction acceleration sensors, and detects the attitude of the straddle-type vehicle 1. The inertial measurement device 16 is provided, for example, on the body of the straddle-type vehicle 1. For example, the inertial measurement device 16 detects the lean angle of the straddle-type vehicle 1 and outputs the detection result. The inertial measurement device 16 may detect other physical quantities that can be substantially converted into the lean angle of the straddle-type vehicle 1. The lean angle corresponds to an angle representing the roll-direction inclination of the vehicle body (specifically, the body) of the straddle-type vehicle 1 with respect to the vertically upward direction. The inertial measurement device 16 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensors.

[0029] The front-wheel wheel speed sensor 17 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 wheel speed sensor 17 may detect other physical quantities that can be substantially converted into the wheel speed of the front wheel. The front-wheel wheel speed sensor 17 is provided on the front wheel.

[0030] The rear-wheel wheel speed sensor 18 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 18 may detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel. The rear-wheel wheel speed sensor 18 is provided on the rear wheel.

[0031] The control device 20 controls the rider assistance system 10. For example, part or all of the control device 20 is composed of a microcomputer, a microprocessor unit, etc. Also, for example, part or all of the control device 20 may be composed of something updatable 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.

[0032] 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 rider assistance system 10.

[0033] The acquisition unit 21 acquires information from each device of the rider assistance system 10 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the camera 14, the surrounding environment sensor 15, the inertial measurement device 16, the front wheel speed sensor 17, and the rear wheel speed sensor 18. Note that in this specification, the acquisition of information may include the extraction or generation (for example, calculation) of information.

[0034] In particular, the acquisition unit 21 acquires direction information regarding the direction in which the rider 2 is facing. The direction information may be information directly indicating the direction in which the rider 2 is facing (i.e., the direction of the rider 2's line of sight or the direction the rider 2 is gazing at), or may be information estimating the direction in which the rider 2 is facing. For example, the acquisition unit 21 can acquire the direction information by performing image processing on the image captured by the camera 14. The face of the rider 2 is reflected in the image captured by the camera 14. Here, the acquisition unit 21 may, for example, acquire, as the direction information, information indicating the direction in which the rider 2 is facing based on the relative position of the eyes (specifically, the pupils) with respect to the face of the rider 2 in the image. Also, the acquisition unit 21 may, for example, perform image processing on the image captured by the camera 14 to acquire information indicating the orientation of the head of the rider 2 or the helmet worn by the rider 2 in the image, estimate the direction in which the rider 2 is facing based on the information, and acquire the information thus obtained as the direction information. The direction information is used in the processing performed by the execution unit 22, as will be described later.

[0035] Note that the method for acquiring the direction information is not limited to the above example. For example, when an inertial measurement device for detecting the posture (e.g., roll angle, pitch angle, and yaw angle) of the helmet worn by the rider 2 is provided on the helmet, the acquisition unit 21 may acquire information indicating the orientation of the helmet based on the detection result of the inertial measurement device, estimate the direction in which the rider 2 is facing based on the information, and acquire the information thus obtained as the direction information. Further, when a camera for imaging the eyes of the rider 2 is provided on the helmet, in addition to the information indicating the orientation of the helmet, information directly indicating the direction in which the rider 2 is facing based on the direction of the rider 2's line of sight in the image captured by the camera may be acquired as the direction information.

[0036] The execution unit 22 executes a driving support operation by the rider support system 10. The driving support operation is an operation to support the driving by the rider 2 and may include various operations. In particular, the execution unit 22 executes a rider support operation that supports the driving by the rider 2 based on the positional relationship between the saddle-type vehicle 1 and an object (for example, a target vehicle). Note that details of such a rider support operation will be described later. In the driving support operation, the execution unit 22 appropriately controls the operations of the engine 11, the hydraulic control unit 12, and the notification device 13.

[0037] <Operation of the control device> With reference to FIGS. 3 to 7, the operation of the control device 20 according to the embodiment of the present invention will be described.

[0038] As described above, the execution unit 22 of the control device 20 executes a rider support operation that supports the driving by the rider 2 based on the positional relationship between the saddle-type vehicle 1 and an object. For example, as such a rider support operation, the execution unit 22 executes a positional relationship adjustment operation or a collision suppression operation. Note that, hereinafter, an example in which the target vehicle traveling in front of the saddle-type vehicle 1 corresponds to the above object will be mainly described, but the above object is not limited to the target vehicle and may be, for example, a traffic signal or the like.

[0039] First, the positional relationship adjustment operation will be described. The positional relationship adjustment operation is an operation that automatically adjusts the positional relationship between the saddle-type vehicle 1 and an object such as the target vehicle so as to be a target positional relationship. For example, in the positional relationship adjustment operation, the execution unit 22 can adjust the positional relationship between the saddle-type vehicle 1 and an object such as the target vehicle so as to be a target positional relationship by automatically controlling the speed of the saddle-type vehicle 1.

[0040] Hereinafter, an example in which the execution unit 22 executes adaptive cruise control as a position relationship adjustment operation will be described. However, the position relationship adjustment operation may be any operation that adjusts the position relationship between the straddle-type vehicle 1 and the target to the target position relationship, and may be other than adaptive cruise control. For example, the position relationship adjustment operation may be an operation that is not canceled even when an accelerator operation is performed by the rider 2, and the target position relationship may change according to the operation amount of the accelerator operation.

[0041] In adaptive cruise control, the execution unit 22 automatically controls the speed of the straddle-type vehicle 1 regardless of the acceleration / deceleration operation (i.e., accelerator operation and brake operation) by the rider 2. The execution unit 22 can control the speed of the straddle-type vehicle 1 based on, for example, the speed information of the straddle-type vehicle 1 obtained based on the wheel speed of the front wheel and the wheel speed of the rear wheel.

[0042] In adaptive cruise control, for example, a target distance that is the target of the distance (i.e., inter-vehicle distance) between the straddle-type vehicle 1 and the target vehicle is set, and the execution unit 22 controls the speed of the straddle-type vehicle 1 so that the distance between the straddle-type vehicle 1 and the target vehicle becomes the target distance. That is, the position relationship in which the distance between the straddle-type vehicle 1 and the target vehicle becomes the target distance corresponds to the target position relationship. Note that the distance (i.e., inter-vehicle distance) between the straddle-type vehicle 1 and the target vehicle may mean the distance in the direction along the lane (specifically, the driving lane of the straddle-type vehicle 1) or the straight-line distance. For example, the acquisition unit 21 acquires the distance between the straddle-type vehicle 1 and the target vehicle based on the surrounding environment information of the straddle-type vehicle 1, and the execution unit 22 can control the speed of the straddle-type vehicle 1 as described above based on the distance thus acquired.

[0043] However, in adaptive cruise control, for example, a target passing time difference, which is the target of the passing time difference between the straddle-type vehicle 1 and the target vehicle (specifically, the time it takes for the straddle-type vehicle 1 to pass the current position of the target vehicle from the current time), is set. The execution unit 22 may control the speed of the straddle-type vehicle 1 so that the passing time difference becomes the target passing time difference. In this case, the positional relationship at which 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 straddle-type vehicle 1, and the execution unit 22 can control the speed of the straddle-type vehicle 1 as described above based on the passing time difference thus acquired.

[0044] In addition, in adaptive cruise control, a target speed, which is the target of the speed of the straddle-type vehicle 1, is set. The execution unit 22 controls the speed of the straddle-type vehicle 1 to become the target speed, for example, when the target vehicle is not detected.

[0045] The execution unit 22 starts the adaptive cruise control, for example, using the operation by the rider 2 using the input device provided in the straddle-type vehicle 1 as a trigger. Note that the adaptive cruise control is released, for example, when a specific operation such as a braking operation by the rider 2 is performed.

[0046] Next, the collision suppression operation will be described. The collision suppression operation is an operation that suppresses the occurrence of a collision between the straddle-type vehicle 1 and an object such as a target vehicle based on the positional relationship between the straddle-type vehicle 1 and the object. For example, the execution unit 22 executes a notification operation or a braking operation as the collision suppression operation.

[0047] The notification operation is an operation that performs notification to the rider 2 among the collision suppression operations. For example, in the notification operation, the execution unit 22 performs notification to the rider 2 to warn that the possibility of a collision between the straddle-type vehicle 1 and an object such as a target vehicle exceeds the standard.

[0048] The following describes the forward collision warning as a notification operation. The forward collision warning is an operation that notifies the rider 2 that the possibility of a collision between the straddle-type vehicle 1 and an object located in front of the straddle-type vehicle 1 exceeds a reference. However, in the notification operation, the execution unit 22 may notify the rider 2 that the possibility of a collision between the straddle-type vehicle 1 and an object located other than in front of the straddle-type vehicle 1 (for example, on the side, etc.) exceeds the reference.

[0049] In the forward collision warning, for example, a threshold value for the possibility of a collision between the straddle-type vehicle 1 and the target vehicle is set. When the possibility of the above collision exceeds the threshold value, the execution unit 22 performs a notification (for example, a notification by display or a notification by sound) using the notification device 13 to the rider 2. The execution unit 22 can specify the above possibility of collision based on, for example, the distance between the straddle-type vehicle 1 and the target vehicle and the relative speed of the straddle-type vehicle 1 with respect to the target vehicle. The above possibility of collision can be represented by, for example, a value obtained by dividing the relative speed of the straddle-type vehicle 1 with respect to the target vehicle by the distance between the straddle-type vehicle 1 and the target vehicle. Note that the above possibility of collision may be represented by a value that further takes into account the relative acceleration of the straddle-type vehicle 1 with respect to the target vehicle in addition to the distance between the straddle-type vehicle 1 and the target vehicle and the relative speed of the straddle-type vehicle 1 with respect to the target vehicle.

[0050] Note that the notification to the rider 2 in the forward collision warning may be performed using a device other than the notification device 13. For example, the execution unit 22 may perform the above notification using a display device or a sound output device provided on the rider 2's wearable (e.g., helmet). Further, for example, the execution unit 22 may perform the above notification using a vibration generating device provided on the saddle-riding type vehicle 1 or the rider 2's wearable. Further, for example, the execution unit 22 may perform the above notification by causing an instantaneous acceleration or deceleration to occur in the saddle-riding type vehicle 1. In this case, the instantaneous acceleration or deceleration may be performed using the drive source (e.g., engine 11) of the saddle-riding type vehicle 1, may be performed using a control unit for the braking force generated on the wheels (e.g., hydraulic control unit 12), or may be performed using the transmission mechanism of the saddle-riding type vehicle 1.

[0051] The braking operation is an operation of automatically braking the saddle-riding type vehicle 1 among the collision suppression operations. For example, in the braking operation, the execution unit 22 automatically brakes the saddle-riding type vehicle 1 so that a collision between the saddle-riding type vehicle 1 and an object such as a target vehicle is suppressed.

[0052] For example, as the braking operation, the execution unit 22 performs an operation of automatically generating a braking force on the saddle-riding type vehicle 1 according to the possibility of a collision between the saddle-riding type vehicle 1 and an object such as a target vehicle in a situation where the rider 2 of the saddle-riding type vehicle 1 has not performed a braking operation. Such an operation is also called AEB (Automatic Emergency Brake). Further, for example, as the braking operation, the execution unit 22 performs an operation of automatically amplifying the braking force generated on the saddle-riding type vehicle 1 according to the possibility of a collision between the saddle-riding type vehicle 1 and an object such as a target vehicle in a situation where the rider 2 of the saddle-riding type vehicle 1 has performed a braking operation. Such an operation is also called EBA (Emergency Brake Assist).

[0053] In the braking operation, for example, a threshold value for the possibility of collision between the straddle-type vehicle 1 and a target vehicle is set. For example, when the possibility of collision exceeds the threshold value and the rider 2 has not performed a braking operation, the execution unit 22 executes, as a braking operation, an operation of automatically generating a braking force in the straddle-type vehicle 1. Further, for example, when the rider 2 has performed a braking operation when the possibility of collision exceeds the threshold value, the execution unit 22 executes, as a braking operation, an operation of automatically amplifying the braking force generated in the straddle-type vehicle 1. The execution unit 22 can identify the above-described possibility of collision, for example, in the same manner as the above-described forward collision warning.

[0054] Here, the rider 2 of the straddle-type vehicle 1 does not always face the same direction. FIG. 3 is a schematic view of the straddle-type vehicle 1 as viewed from above. As shown by the solid line in FIG. 3, while the straddle-type vehicle 1 is traveling, the rider 2 basically gazes forward. In FIG. 3, the direction of the line of sight of the rider 2 in this case is indicated by the solid-line arrow D1. On the other hand, as shown by the two-dot chain line in FIG. 3, while the straddle-type vehicle 1 is traveling, the rider 2 may look around. For example, as indicated by the two-dot chain line arrow D2 in FIG. 3, a case where the direction of the line of sight of the rider 2 is shifted in the left-right direction with respect to the front corresponds to an example of the case where the rider 2 looks around.

[0055] When the rider 2 looks around, the time until the rider 2 reacts to the movement of an object such as a target vehicle tends to be long, so the safety tends to decrease. Therefore, in the present embodiment, the execution unit 22 of the control device 20 determines the control parameter of the above-described rider support operation (for example, the position relationship adjustment operation or the collision suppression operation) based on the direction information regarding the direction in which the rider 2 is facing, thereby utilizing the above-described rider support operation and realizing an improvement in the safety of the straddle-type vehicle 1. Hereinafter, as a processing example regarding the rider support operation performed by such a control device 20, the first processing, the second processing, the third processing, and the fourth processing will be described in order.

[0056] FIG. 4 is a flowchart showing an example of the flow of the first process 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 adaptive cruise control.

[0057] The first process in FIG. 4 is a process related to determining control parameters for the position relationship adjustment operation (specifically, adaptive cruise control) among the rider assistance operations.

[0058] When the control flow shown in FIG. 4 is started, in step S102, the execution unit 22 determines whether the rider 2 is gazing ahead.

[0059] As described above, the acquisition unit 21 acquires direction information regarding the direction in which the rider 2 is facing. In step S102, the execution unit 22 determines whether the rider 2 is gazing ahead based on the direction information. For example, when the angle formed between the traveling direction of the saddle-riding type vehicle 1 and the direction in which the rider 2 is facing is less than or equal to a reference angle, the execution unit 22 determines that the rider 2 is gazing ahead. The reference angle is set to a small angle, for example, such that it can be determined that the rider 2 is gazing ahead without looking at an object on the side of the road or a display device of the saddle-riding type vehicle 1. On the other hand, when the direction in which the rider 2 is facing is significantly deviated in the left-right direction or the up-down direction with respect to the traveling direction of the saddle-riding type vehicle 1 and the above-mentioned formed angle is greater than the reference angle, it is determined that the rider 2 is not gazing ahead.

[0060] If it is determined that the rider 2 is gazing ahead (step S102 / YES), the process proceeds to step S103. On the other hand, if it is determined that the rider 2 is not gazing ahead (step S102 / NO), the process proceeds to step S104.

[0061] If it is determined as YES in step S102, in step S103, the execution unit 22 sets the target distance of the adaptive cruise control to the first distance and returns to step S102. The first distance is shorter than the second distance set in step S105 described later.

[0062] If it is determined as NO in step S102, in step S104, the execution unit 22 determines whether the rider 2 is gazing at a forward curved road with respect to the saddle-type vehicle 1.

[0063] Here, when the saddle-type vehicle 1 is traveling on a curved road or immediately before the saddle-type vehicle 1 enters a curved road, a curved road is located in front of the saddle-type vehicle 1. In this case, if the rider 2 is not looking around, the rider 2 may gaze at the curved road that is the destination of the saddle-type vehicle 1.

[0064] In step S104, the execution unit 22 determines whether the rider 2 is gazing at a forward curved road with respect to the saddle-type vehicle 1 based on the direction information and the turning state information regarding the turning state of the saddle-type vehicle 1. The turning state information includes, for example, information on the lean angle of the saddle-type vehicle 1. The acquisition unit 21 can acquire information on the lean angle of the saddle-type vehicle 1 from, for example, the inertial measurement unit 16.

[0065] The execution unit 22 determines, for example, based on the turning state information (for example, the lean angle information), whether there is a curved road in front of the saddle-type vehicle 1 and the direction in which the curved road curves. Then, the execution unit 22 determines whether the rider 2 is gazing at a forward curved road with respect to the saddle-type vehicle 1 based on the direction in which the curved road in front of the saddle-type vehicle 1 curves and the direction in which the rider 2 is facing.

[0066] For example, in a situation where the curved road curves to the right and the rider 2 is looking at the curved road, the direction the rider 2 is facing may deviate to the right with respect to the traveling direction of the saddle-ride type vehicle 1. On the other hand, for example, in a situation where the curved road curves to the left and the rider 2 is looking at the curved road, the direction the rider 2 is facing may deviate to the left with respect to the traveling direction of the saddle-ride type vehicle 1. Thus, when the direction in which the curved road curves coincides with the direction in which the rider 2 deviates with respect to the traveling direction of the saddle-ride type vehicle 1, the execution unit 22 determines that the rider 2 is looking at the forward curved road with respect to the saddle-ride type vehicle 1.

[0067] In the above description, an example in which the information on the lean angle of the saddle-ride type vehicle 1 is used as the turning state information has been described, but the turning state information is not limited to the above example. For example, the turning state information may be the information on the yaw rate of the saddle-ride type vehicle 1, the information on the lateral acceleration of the saddle-ride type vehicle 1, the information on the steering angle of the saddle-ride type vehicle 1, or the map information. Further, the acquisition unit 21 may specify the turning state of the saddle-ride type vehicle 1 by performing image processing on the image captured by the camera 14. The information thus specified using the image captured by the camera 14 may also correspond to an example of the turning state information.

[0068] When it is determined that the rider 2 is looking at the forward curved road with respect to the saddle-ride type vehicle 1 (step S104 / YES), it is determined that the rider 2 is not looking around, and the process proceeds to step S103. On the other hand, when it is determined that the rider 2 is not looking at the forward curved road with respect to the saddle-ride type vehicle 1 (step S104 / NO), it is determined that the rider 2 is looking around, and the process proceeds to step S105.

[0069] When it is determined as NO in step S104, in step S105, the execution unit 22 sets the target distance of the adaptive cruise control to the second distance and returns to step S102. The second distance is longer than the first distance set in step S103 described above.

[0070] As described above, in the first process of FIG. 4, when the execution unit 22 determines that the rider 2 is not looking around, in step S103, the target distance of the adaptive cruise control is set to the first distance. On the other hand, when the execution unit 22 determines that the rider 2 is looking around, in step S105, the target distance of the adaptive cruise control is set to a second distance longer than the first distance. Thereby, in a situation where the rider 2 is looking around and the time until the rider 2 reacts to the movement of an object such as a target vehicle is likely to be long, the distance between the saddle-riding type vehicle 1 and the object can be increased, so that the safety can be improved.

[0071] Note that the target distance of the adaptive cruise control corresponds to an example of the control parameters of the adaptive cruise control. In particular, the target distance of the adaptive cruise control corresponds to an example of the target value that is the control target among such control parameters.

[0072] FIG. 5 is a flowchart showing an example of the flow of the second process performed by the control device 20. Step S201 in FIG. 5 corresponds to the start of the control flow shown in FIG. 5. The control flow shown in FIG. 5 is started, for example, during the execution of the adaptive cruise control.

[0073] The second process in FIG. 5 is a process related to the determination of the control parameters of the position relationship adjustment operation (specifically, the adaptive cruise control) in the rider support operation, similar to the first process in FIG. 4 described above.

[0074] The second process in FIG. 5 is different from the first process in FIG. 4 described above in that steps S103 and S105 in FIG. 4 are replaced with steps S202 and S203.

[0075] In the second process of FIG. 5, when it is determined as YES in step S102, or when it is determined as YES in step S104, in step S202, the execution unit 22 sets the target passing time difference of the adaptive cruise control to the first passing time difference, and returns to step S102. On the other hand, when it is determined as NO in step S104, in step S203, the execution unit 22 sets the target passing time difference of the adaptive cruise control to a second passing time difference that is longer than the first passing time difference, and returns to step S102.

[0076] As described above, in the second process of FIG. 5, when the execution unit 22 determines that the rider 2 is not looking around, in step S202, the execution unit 22 sets the target passing time difference of the adaptive cruise control to the first passing time difference. On the other hand, when the execution unit 22 determines that the rider 2 is looking around, in step S203, the execution unit 22 sets the target passing time difference of the adaptive cruise control to a second passing time difference that is longer than the first passing time difference. Thereby, in a situation where the rider 2 is looking around and the time until the rider 2 reacts to the movement of an object such as the target vehicle is likely to be long, the passing time difference between the saddle-type vehicle 1 and the object can be increased, so that safety can be improved.

[0077] Note that the target passing time difference of the adaptive cruise control corresponds to an example of the control parameters of the adaptive cruise control. In particular, the target passing time difference of the adaptive cruise control corresponds to an example of the target value that is the control target among such control parameters.

[0078] FIG. 6 is a flowchart showing an example of the flow of the third process performed by the control device 20. Step S301 in FIG. 6 corresponds to the start of the control flow shown in FIG. 6. The control flow shown in FIG. 6 is started, for example, during the execution of the adaptive cruise control.

[0079] The third process in FIG. 6 is a process related to determining control parameters for the position relationship adjustment operation (specifically, adaptive cruise control) among the rider assistance operations, similar to the first process in FIG. 4 described above.

[0080] The third process in FIG. 6 is different from the first process in FIG. 4 described above in that steps S103 and S105 in FIG. 4 are replaced by steps S302 and S303.

[0081] In the third process in FIG. 6, when it is determined as YES in step S102 or when it is determined as YES in step S104, in step S302, the execution unit 22 sets the target speed of the adaptive cruise control to the first speed and returns to step S102. On the other hand, when it is determined as NO in step S104, in step S303, the execution unit 22 sets the target speed of the adaptive cruise control to a second speed lower than the first speed and returns to step S102.

[0082] As described above, in the third process in FIG. 6, when the execution unit 22 determines that the rider 2 is not looking around, in step S302, the execution unit 22 sets the target speed of the adaptive cruise control to the first speed. On the other hand, when the execution unit 22 determines that the rider 2 is looking around, in step S303, the execution unit 22 sets the target speed of the adaptive cruise control to a second speed lower than the first speed. Thereby, in a situation where the rider 2 is looking around and the time until the rider 2 reacts to the movement of an object such as the target vehicle is likely to be long, the speed of the saddle-riding type vehicle 1 can be lowered, so that safety can be improved.

[0083] Note that the target speed of the adaptive cruise control corresponds to an example of the control parameters of the adaptive cruise control. In particular, the target speed of the adaptive cruise control corresponds to an example of the target value that is the control target among such control parameters.

[0084] FIG. 7 is a flowchart showing an example of the flow of the fourth process performed by the control device 20. Step S401 in FIG. 7 corresponds to the start of the control flow shown in FIG. 7. The control flow shown in FIG. 7 is started, for example, when the forward collision warning is enabled. Note that when the forward collision warning is enabled, it means that the forward collision warning can be executed.

[0085] The fourth process in FIG. 7 is a process related to the determination of the control parameters of the collision suppression operation (specifically, the forward collision warning) in the rider assistance operation.

[0086] The fourth process in FIG. 7 is different from the first process in FIG. 4 described above in that steps S103 and S105 in FIG. 4 are replaced by steps S402 and S403.

[0087] In the fourth process in FIG. 7, when it is determined YES in step S102 or when it is determined YES in step S104, in step S402, the execution unit 22 sets the threshold value of the collision possibility of the forward collision warning to the first threshold value and returns to step S102. On the other hand, when it is determined NO in step S104, in step S403, the execution unit 22 sets the threshold value of the collision possibility of the forward collision warning to a second threshold value smaller than the first threshold value and returns to step S102.

[0088] As described above, in the fourth process of FIG. 7, when the execution unit 22 determines that the rider 2 is not looking around, in step S402, the execution unit 22 sets the collision possibility threshold of the forward collision warning to the first threshold. On the other hand, when the execution unit 22 determines that the rider 2 is looking around, in step S403, the execution unit 22 sets the collision possibility threshold of the forward collision warning to a second threshold smaller than the first threshold. Thereby, in a situation where the rider 2 is looking around and the time until the rider 2 reacts to the movement of an object such as the target vehicle is likely to be long, the start timing of the forward collision warning can be advanced, so that safety can be improved.

[0089] Note that the collision possibility threshold of the forward collision warning corresponds to an example of the control parameter of the forward collision warning. In particular, the collision possibility threshold of the forward collision warning corresponds to an example of the threshold that serves as a criterion for determining whether to execute the forward collision warning among such control parameters.

[0090] As described above, the first process, the second process, the third process, and the fourth process have been described as examples of the processes performed by the control device 20. However, the processes performed by the control device 20 may be processes in which changes are made to the process examples described above.

[0091] For example, in each example of FIGS. 4 to 7, the process of step S104 may be omitted. In that case, for example, when it is determined as NO in step S102, it is determined that the rider 2 is looking around, and the process proceeds to step S105, step S203, step S303, or step S403.

[0092] Also, for example, in each of the examples of FIGS. 4 to 7, the execution unit 22 changes the control parameters of the rider assistance operation in two stages based on the direction information. However, the execution unit 22 may change the control parameters of the rider assistance operation in more stages (i.e., three or more stages) or continuously based on the direction information. For example, the execution unit 22 may determine the probability (i.e., likelihood) that the rider 2 is looking around based on the direction information, and change the control parameters in more stages (i.e., three or more stages) or continuously according to the probability.

[0093] Also, for example, in the examples of FIGS. 4 to 6, the execution unit 22 determines the target value of the adaptive cruise control among the position relationship adjustment operations based on the direction information. However, the execution unit 22 may determine the target value of the position relationship adjustment operation other than the adaptive cruise control based on the direction information.

[0094] Also, for example, the execution unit 22 may determine a target value other than the target distance, the target passing time difference, and the target speed among the target values of the position relationship adjustment operation (for example, the target acceleration which is the target of the acceleration of the straddle-type vehicle 1, etc.) based on the direction information.

[0095] Also, for example, in the example of FIG. 7, the execution unit 22 determines the threshold value of the forward collision warning among the collision suppression operations based on the direction information. However, the execution unit 22 may determine the threshold value of the collision suppression operation other than the forward collision warning based on the direction information. For example, the execution unit 22 may determine the threshold value of the braking operation (i.e., the operation of automatically braking the straddle-type vehicle 1) among the collision suppression operations based on the direction information. Examples of the above threshold value include, for example, the threshold value for the possibility of collision between the straddle-type vehicle 1 and the target vehicle in the braking operation. For example, when the execution unit 22 determines that the rider 2 is looking around, the execution unit 22 may decrease or increase the threshold value of the collision possibility of the braking operation compared to the case where it is determined that the rider 2 is not looking around.

[0096] Further, for example, the execution unit 22 may determine a threshold value other than the collision possibility threshold value among the threshold values of the collision suppression operation based on the direction information. For example, when the speed of the straddle-type vehicle 1 falls below the lower limit value, the execution unit 22 may determine that the vehicle behavior of the straddle-type vehicle 1 has become unstable and prohibit the braking operation. Such a lower limit value may also correspond to a threshold value that is a criterion for determining whether to execute the collision suppression operation.

[0097] Also, for example, when a plurality of display devices are provided in the straddle-type vehicle 1, the execution unit 22 determines, based on the direction information, which display device the rider 2 is gazing at, and may perform a notification operation (for example, forward collision warning) using the display device that the rider 2 is gazing at. For example, basically, when a forward collision warning is executed using a display device mounted on the straddle-type vehicle 1, the execution unit 22 may execute a forward collision warning using the smartphone only when the rider 2 is gazing at the smartphone installed in the straddle-type vehicle 1.

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

[0099] The control device 20 includes an execution unit 22 that executes a rider support operation for supporting the driving by the rider 2 based on the positional relationship between the straddle-type vehicle 1 and the object, and further includes an acquisition unit 21 that acquires direction information regarding the direction in which the rider 2 is facing. Then, the execution unit 22 determines a control parameter for the rider support operation based on the direction information. Thereby, the above-described rider support operation based on the positional relationship can be executed in consideration of the direction in which the rider 2 is facing. For example, the rider support operation can be executed with different control parameters when the rider 2 is gazing forward and when the rider 2 is looking around. Therefore, the safety of the straddle-type vehicle 1 can be improved.

[0100] Preferably, in the control device 20, the rider assistance operation is a position relationship adjustment operation that automatically adjusts the position relationship between the saddle-riding type vehicle 1 and the target so as to be a target position relationship, and the control parameter is a target value that is a control target of the position relationship adjustment operation. Thereby, the target value of the position relationship adjustment operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the position relationship adjustment operation can be executed with different target values depending on whether the rider 2 is gazing forward or looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be appropriately improved.

[0101] Preferably, in the control device 20, the above target value is a target distance that is a target of the distance between the saddle-riding type vehicle 1 and the target. Thereby, the target distance of the position relationship adjustment operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the position relationship adjustment operation can be executed with different target distances depending on whether the rider 2 is gazing forward or looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be more appropriately improved.

[0102] Preferably, in the control device 20, the above target value is a target passing time difference that is a target of the passing time difference between the saddle-riding type vehicle 1 and the target. Thereby, the target passing time difference of the position relationship adjustment operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the position relationship adjustment operation can be executed with different target passing time differences depending on whether the rider 2 is gazing forward or looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be more appropriately improved.

[0103] Preferably, in the control device 20, the above target value is a target speed which is the target of the speed of the saddle-riding type vehicle 1. Thereby, the target speed of the position relationship adjustment operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the position relationship adjustment operation can be executed at different target speeds when the rider 2 is gazing ahead and when the rider 2 is looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be more appropriately improved.

[0104] Preferably, in the control device 20, the rider support operation is a collision suppression operation for suppressing the occurrence of a collision between the saddle-riding type vehicle 1 and the target based on the position relationship between the saddle-riding type vehicle 1 and the target, and the control parameter is a threshold value serving as a criterion for determining whether or not to execute the collision suppression operation. Thereby, the threshold value of the collision suppression operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the collision suppression operation can be executed at different threshold values when the rider 2 is gazing ahead and when the rider 2 is looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be appropriately improved.

[0105] Preferably, in the control device 20, the collision suppression operation is a braking operation for automatically braking the saddle-riding type vehicle 1. Thereby, the threshold value of the braking operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the braking operation can be executed at different threshold values when the rider 2 is gazing ahead and when the rider 2 is looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be more appropriately improved.

[0106] Preferably, in the control device 20, the collision suppression operation is a notification operation for notifying the rider 2. Thereby, the threshold value of the notification operation can be determined in consideration of the direction in which the rider 2 is facing. For example, the notification operation can be executed at different threshold values when the rider 2 is gazing ahead and when the rider 2 is looking around. Therefore, the safety of the saddle-riding type vehicle 1 can be more appropriately improved.

[0107] Preferably, in the control device 20, the above threshold value is a threshold value for the possibility of collision between the straddle-type vehicle 1 and an object. Thereby, the threshold value for the possibility of collision between the straddle-type vehicle 1 and the object in the collision suppression operation can be determined in consideration of the direction in which the rider 2 is facing. For example, it is appropriately realized that the collision suppression operation is executed with different threshold values when the rider 2 is gazing forward and when the rider 2 is looking around. Therefore, the safety of the straddle-type vehicle 1 is more appropriately realized.

[0108] Preferably, in the control device 20, the execution unit 22 determines the control parameter based on the turning state information regarding the turning state of the straddle-type vehicle 1 in addition to the direction information. Thereby, it is possible to more appropriately determine whether the rider 2 is gazing forward or the degree of certainty that the rider 2 is gazing forward, and then determine the control parameter.

[0109] Preferably, in the control device 20, the acquisition unit 21 acquires the direction information based on the image obtained by the camera 14 mounted on the straddle-type vehicle 1. Thereby, the direction information can be appropriately acquired. Therefore, it is appropriately realized that the above-described rider support operation based on the positional relationship is executed in consideration of the direction in which the rider 2 is facing.

[0110] Preferably, in the control device 20, the acquisition unit 21 acquires the direction information based on the image obtained by the camera 14 mounted on the mobile terminal. Thereby, the direction information can be appropriately acquired. Therefore, it is appropriately realized that the above-described rider support operation based on the positional relationship is executed in consideration of the direction in which the rider 2 is facing.

[0111] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

Description of Reference Numerals

[0112] 1 Saddle-riding type vehicle, 2 Rider, 10 Rider support system, 11 Engine, 12 Hydraulic control unit, 13 Notification device, 14 Camera, 15 Surrounding environment sensor, 16 Inertial measurement unit, 17 Front wheel speed sensor, 18 Rear wheel speed sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit.

Claims

1. A control device (20) of a rider assistance system (10) for assisting the operation by a rider (2) of a straddle-type vehicle (1), comprising an execution unit (22) that executes a rider assistance operation for assisting the operation by the rider (2) based on the positional relationship between the straddle-type vehicle (1) and the target, further comprising an acquisition unit (21) that acquires direction information regarding the direction in which the rider (2) is facing, wherein the execution unit (22) determines control parameters for the rider assistance operation based on the direction information, control device.

2. The rider assistance operation is a positional relationship adjustment operation that automatically adjusts the positional relationship to a target positional relationship, and the control parameter is a target value that is a control target for the positional relationship adjustment operation, The control device according to claim 1.

3. The target value is a target distance that is a target for the distance between the straddle-type vehicle (1) and the target, The control device according to claim 2.

4. The target value is a target passing time difference that is a target for the passing time difference between the straddle-type vehicle (1) and the target, The control device according to claim 2.

5. The target value is a target speed that is a target for the speed of the straddle-type vehicle (1), The control device according to claim 2.

6. The rider assistance operation is a collision suppression operation that suppresses the occurrence of a collision between the straddle-type vehicle (1) and the target based on the positional relationship, and the control parameter is a threshold value that serves as a criterion for determining whether to execute the collision suppression operation, The control device according to claim 1.

7. The collision suppression operation is a braking operation that automatically brakes the straddle-type vehicle (1), The control device according to claim 6.

8. The collision suppression operation is a notification operation that performs notification to the rider (2), The control device according to claim 6.

9. The threshold value is a threshold value for the possibility of collision between the straddle-type vehicle (1) and the target, The control device according to claim 6.

10. In addition to the direction information, the execution unit (22) determines the control parameter based on turning state information regarding the turning state of the straddle-type vehicle (1), The control device according to any one of claims 1 to 9.

11. The acquisition unit (21) acquires the direction information based on an image obtained by a camera (14) mounted on the straddle-type vehicle (1), The control device according to any one of claims 1 to 9.

12. The acquisition unit (21) acquires the direction information based on an image obtained by a camera (14) mounted on the mobile terminal. The control device according to any one of claims 1 to 9.

13. A control method for a rider support system (10) that supports driving by a rider (2) of a straddle-type vehicle (1), wherein an execution unit (22) of a control device (20) executes a rider support operation for supporting driving by the rider (2) based on the positional relationship between the straddle-type vehicle (1) and the target, and further, an acquisition unit (21) of the control device (20) acquires direction information regarding the direction in which the rider (2) is facing, and the execution unit (22) determines control parameters for the rider support operation based on the direction information. Control method.

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