Rider assistance system control device and control method

Abstract

The present invention obtains a control device and a control method that are for a rider assistance system and that enable improvement of the safety of a rider. A control device (20) is provided with: an acquisition unit that, during travel by a host vehicle (100), acquires information of positional relationship between the host vehicle (100) and an object located around the host vehicle (100) on the basis of ambient environment information of the host vehicle (100); and an execution unit that, on the basis of the positional relationship information acquired by the acquisition unit, executes a rider assistance operation for assisting driving by a rider of the host vehicle (100) during travel. The execution unit changes the rider assistance operation between a case where the travel by the host vehicle (100) is not a group travel and a case where the travel by the host vehicle (100) is a group travel.

Description

[Technical field]

[0001] The present invention relates to a control device for a rider assistance system that assists a rider of a lean vehicle, and a control method for a rider assistance system that assists a rider of a lean vehicle. [Background technology]

[0002] Conventional rider assistance systems include a system in which ambient environmental information about a lean vehicle is acquired and the ambient environmental information is used to execute a rider assistance operation that assists the rider of the lean vehicle in driving the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-116882 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a conventional rider assistance system, positional relationship information between a lean vehicle and an object located around the lean vehicle is acquired, and a rider assistance operation is performed based on the positional relationship information. On the other hand, since a lean vehicle has a small body size compared to other vehicles (e.g., passenger cars, trucks, etc.), it is possible for a unique formation to be adopted when multiple lean vehicles travel in a group. Therefore, it becomes necessary to consider how to respond to a situation in which such a unique formation is adopted.

[0005] The present invention has been made in view of the above-mentioned problems, and provides a control device for a rider assistance system capable of improving the safety of a rider, and also provides a control method for a rider assistance system capable of improving the safety of a rider. [Means for solving the problem]

[0006] The control device of the present invention is a control device for a rider assistance system that assists a rider of a lean vehicle, and is equipped with an acquisition unit that acquires positional relationship information between the host vehicle and objects located around the host vehicle based on surrounding environment information of the host vehicle while the host vehicle is traveling, and an execution unit that executes a rider assistance operation to assist the rider in driving the host vehicle while the vehicle is traveling based on the positional relationship information acquired by the acquisition unit, and the execution unit changes the rider assistance operation depending on whether the host vehicle is traveling in a group where a plurality of lean vehicles are traveling in a group or not.

[0007] The control method of the present invention is a control method for a rider assistance system that assists a rider of a lean vehicle, and includes an acquisition step in which an acquisition unit of a control device acquires positional relationship information between the host vehicle and objects located around the host vehicle based on surrounding environment information of the host vehicle while the host vehicle is traveling, and an execution step in which an execution unit of the control device executes a rider assistance operation that assists the rider in driving the host vehicle while the vehicle is traveling based on the positional relationship information acquired in the acquisition step, and in the execution step, the execution unit changes the rider assistance operation depending on whether the traveling of the host vehicle is not a group traveling in which a plurality of lean vehicles are traveling in a group or the traveling of the host vehicle is the group traveling. Effect of the Invention

[0008] In the control device and control method according to the present invention, the execution unit of the control device changes the rider assistance operation depending on whether the host vehicle is not traveling in a group or in a group, making it possible to deal with situations where a formation specific to lean vehicles is adopted, thereby improving the safety of the rider. [Brief description of the drawings]

[0009] [Figure 1]1 is a diagram showing a state in which a rider assistance system according to an embodiment of the present invention is mounted on a host vehicle. [Diagram 2] 1 is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention. [Diagram 3] 1 is a diagram for explaining a configuration of a rider support system according to an embodiment of the present invention; [Figure 4] 1 is a diagram for explaining a configuration of a rider support system according to an embodiment of the present invention; [Diagram 5] 1 is a diagram for explaining a configuration of a rider support system according to an embodiment of the present invention; [Figure 6] FIG. 4 is a diagram showing an operation flow of a control device of the rider assistance system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0011] It should be noted that the configurations, operations, etc. described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations, operations, etc.

[0012] For example, in the following, a case where the control device and the control method according to the present invention are used in a rider assistance system for a motorcycle is described, but the control device and the control method according to the present invention may be used in a rider assistance system for a lean vehicle other than a motorcycle. A lean vehicle means a vehicle whose body leans to the right when turning to the right and whose body leans to the left when turning to the left. Lean vehicles include, for example, motorcycles (motorcycles and motor three-wheelers) and bicycles. Motorcycles include vehicles powered by an engine and vehicles powered by an electric motor. Motorcycles include, for example, motorcycles, scooters, and electric scooters. A bicycle means a vehicle that can be propelled on a road by the rider's pedaling force applied to the pedals. Bicycles include normal bicycles, electrically assisted bicycles, and electric bicycles.

[0013] In the following, the same or similar parts will be appropriately simplified or omitted from description. In each drawing, the same or similar parts will be denoted by the same reference numerals or will not be denoted by the reference numerals. In addition, detailed structures will be appropriately simplified or omitted from illustration.

[0014] Embodiment A rider assistance system according to an embodiment will be described below.

[0015] <Rider support system configuration> The configuration of the rider support system according to the embodiment will be described. Fig. 1 is a diagram showing a state in which a rider support system according to an embodiment of the present invention is mounted on a vehicle. Fig. 2 is a diagram showing a system configuration of the rider support system according to an embodiment of the present invention. Figs. 3 to 5 are diagrams for explaining the configuration of the rider support system according to an embodiment of the present invention.

[0016] 1 and 2, the rider assistance system 1 is mounted on a vehicle 100, which is a lean vehicle. The rider assistance system 1 includes, for example, an ambient environment sensor 11, a vehicle behavior sensor 12, a control device (ECU) 20, a notification device 30, a braking device 40, and a drive device 50.

[0017] In the rider assistance system 1, the control device 20 executes a rider assistance operation that assists the rider in driving the host vehicle 100 while traveling, using information detected by the surrounding environment sensor 11 and the vehicle behavior sensor 12. The control device 20 outputs control commands to various devices (e.g., the notification device 30, the braking device 40, the drive device 50, etc.) to execute the rider assistance operation. The control device 20 also receives detection results from various sensors (not shown) for detecting other information (e.g., information on the operation state of the braking device 40 by the rider, information on the operation state of the drive device 50 by the rider, etc.) as necessary. Each part of the rider assistance system 1 may be used exclusively for the rider assistance system 1, or may be shared with other systems.

[0018] The surrounding environment sensor 11 detects surrounding environment information of the vehicle 100. The surrounding environment information includes information related to the distance or direction to a subject located around the vehicle 100. The surrounding environment sensor 11 may be, for example, the surrounding environment sensor 11a that detects surrounding environment information in front of the vehicle 100, the surrounding environment sensor 11b that detects surrounding environment information behind the vehicle 100, the surrounding environment sensor 11c that detects surrounding environment information to the left of the vehicle 100, the surrounding environment sensor 11d that detects surrounding environment information to the right of the vehicle 100, or a combination thereof. The surrounding environment sensors 11a, 11b, 11c, and 11d are, for example, radar, Lidar sensor, ultrasonic sensor, camera, etc. At least a part of the surrounding environment sensor 11c and the surrounding environment sensor 11d may be substituted with the surrounding environment sensor 11a or the surrounding environment sensor 11b.

[0019] The vehicle behavior sensor 12 detects vehicle behavior information of the host vehicle 100. The vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor (IMU), etc. The vehicle speed sensor detects the speed occurring in the host vehicle 100. The vehicle speed sensor may detect other physical quantities that can be substantially converted into the speed occurring in the host vehicle 100. The inertial sensor detects three-axial (front-rear, width-height, and height-height) accelerations occurring in the host vehicle 100 and three-axial (roll angle, pitch angle, and yaw angle) angular velocities. The inertial sensor may detect other physical quantities that can be substantially converted into three-axial accelerations and three-axial angular velocities occurring in the host vehicle 100. The inertial sensor may also detect a part of the three-axial accelerations and three-axial angular velocities.

[0020] The control device 20 includes at least an acquisition unit 21 and an execution unit 22. All or each unit of the control device 20 may be provided together in one housing, or may be provided separately in multiple housings. All or each unit of the control device 20 may be configured, for example, by a microcomputer, a microprocessor unit, or the like, may be configured with updatable firmware, or may be a program module executed by a command from a CPU, or the like.

[0021] The acquisition unit 21 acquires positional relationship information between the host vehicle 100 and objects (e.g., other vehicles, obstacles, road facilities, people, animals, etc.) located around the host vehicle 100 based on the surrounding environment information detected by the surrounding environment sensor 11 while the host vehicle 100 is traveling. The positional relationship information is, for example, information on a relative position, a relative distance, a relative speed, a relative acceleration, a relative jerk, etc. The positional relationship information may be information on other physical quantities that can be substantially converted into the above information.

[0022] The execution unit 22 executes a rider assistance operation that assists the rider of the vehicle 100 while traveling, based on the positional relationship information acquired by the acquisition unit 21. The execution unit 22 uses vehicle behavior information detected by the vehicle behavior sensor 12 as necessary when executing the rider assistance operation or determining whether or not to execute the rider assistance operation. The execution unit 22 changes the rider assistance operation between when the vehicle 100 is not traveling in a group and when the vehicle 100 is traveling in a group. Group traveling is a state in which a specific number of lean vehicles travel as a group (i.e., as a group). Group traveling includes, for example, traveling in a platoon in which a number of lean vehicles travel in a staggered manner in one lane, and traveling in a platoon in which a number of lean vehicles or a train of those vehicles travel in a line in the lane width direction in one lane. The execution unit 22 may not distinguish between types of platoons in group traveling, or may distinguish between types of platoons in group traveling and change the rider assistance operation according to the distinction. The execution unit 22 may determine whether the traveling of the host vehicle 100 is group traveling by automatic detection of a state in which a specific number of lean vehicles are traveling in a group based on the positional relationship information acquired by the acquisition unit 21, or may determine that the traveling of the host vehicle 100 is group traveling by manual selection of a group traveling mode by the rider, or manual acceptance by the rider after automatic detection based on the surrounding environment information. For example, the execution unit 22 can determine that the traveling of the host vehicle 100 is group traveling when the acquisition unit 21 acquires positional relationship information indicating that a state in which another lean vehicle traveling in the same lane as the host vehicle 100 is in a predetermined position relative to the host vehicle 100 continues for more than a reference time or a reference traveling distance.

[0023] The rider assistance operation may be a notification operation for notifying the rider, and in that case, the execution unit 22 changes the control command output to the notification device 30 depending on whether the vehicle 100 is traveling in a group. The rider assistance operation may also be a control operation for controlling the speed, acceleration, or jerk occurring in the vehicle 100, and in that case, the execution unit 22 changes the control command output to at least one of the braking device 40 and the drive device 50 depending on whether the vehicle 100 is traveling in a group. The control operation may be performed in a state in which the braking device 40 or the drive device 50 is operated by the rider, or in a state in which the braking device 40 or the drive device 50 is not operated by the rider. As the rider assistance operation, both a notification operation for the rider and a control operation of the speed, acceleration, or jerk occurring in the vehicle 100 may be performed.

[0024] The notification device 30 may notify the rider by display (i.e., perception in which the visual organs are used as a sensory organ), sound (i.e., perception in which the auditory organs are used as a sensory organ), vibration (i.e., perception in which the tactile organs are used as a sensory organ), or a combination of these. Specifically, the notification device 30 is a display, a lamp, a speaker, a vibrator, or the like, and may be provided on the vehicle 100, or may be provided on an accessory attached to the vehicle 100, such as a helmet or gloves. The notification device 30 may be configured with one output device, or may be configured with a plurality of output devices of the same type or different types. The plurality of output devices may be provided integrally or separately.

[0025] The braking device 40 is for braking the host vehicle 100. The drive device 50 is for generating a driving force for the host vehicle 100 as a power source of the host vehicle 100. The drive device 50 may take on the function of the braking device 40.

[0026] As an example, the execution unit 22 executes a notification operation to notify the rider of the possibility of a collision between the host vehicle 100 and an object located around the host vehicle 100 as a rider assistance operation. For example, when the acquisition unit 21 acquires positional relationship information corresponding to a state in which the possibility of a collision between the host vehicle 100 and an object located in front, behind, or to the side of the host vehicle 100 exceeds a threshold, the execution unit 22 executes a notification operation for the rider. In the notification operation, the presence or absence of a possibility of a collision may be notified, or a rank indicating the degree of the possibility of a collision may be notified. In addition to the above, additional information such as the type of the object may be notified. The execution unit 22 changes the notification operation depending on whether the host vehicle 100 is traveling in a group. The execution unit 22 may execute a control operation of the speed, acceleration, or jerk occurring in the host vehicle 100 as a rider assistance operation to reduce the possibility of a collision, and even in such a case, the execution unit 22 changes the control operation depending on whether the host vehicle 100 is traveling in a group.

[0027] As an example, the execution unit 22 executes a notification operation as a rider assistance operation to notify the rider of the relative distance or passing time difference of other vehicles located around the vehicle 100 with respect to the vehicle 100. For example, the acquisition unit 21 acquires information on the relative distance or passing time difference of other vehicles traveling in front, behind, or to the side with respect to the vehicle 100 as positional relationship information, and the execution unit 22 executes a notification operation of the relative distance or passing time difference information to the rider. In the notification operation, the relative distance or passing time difference itself may be notified, or a rank indicating the degree of the relative distance or passing time difference may be notified. In addition to the above, additional information such as the model of the other vehicle may be notified. The execution unit 22 changes the notification operation depending on whether the vehicle 100 is traveling in a group. As a rider assistance operation, the execution unit 22 may execute a control operation of the speed, acceleration, or jerk occurring in the host vehicle 100 in order to adjust the relative distance or the passing time difference, and even in such a case, the execution unit 22 changes the control operation depending on whether the host vehicle 100 is traveling in a group.

[0028] As an example, the execution unit 22 executes, as the rider assistance operation, a notification operation to notify the rider of tailgating by another vehicle located around the vehicle 100. For example, when the acquisition unit 21 acquires positional relationship information corresponding to a state in which another vehicle is traveling behind the vehicle 100 at a relative distance or passing time difference below a threshold value and the relative distance or passing time difference exceeds a reference period and is stable, the execution unit 22 executes the notification operation for the rider. In the notification operation, the presence or absence of tailgating may be notified, and the state (for example, a rank indicating the relative distance or the degree of the relative distance, a rank indicating the passing time difference or the degree of the passing time difference, a model of the other vehicle, etc.) may be notified. The execution unit 22 changes the notification operation depending on whether the vehicle 100 is traveling in a group. As a rider assistance operation, the execution unit 22 may execute a control operation of the speed, acceleration, or jerk occurring in the host vehicle 100 in order to adjust the relative distance or the passing time difference, and even in such a case, the execution unit 22 changes the control operation depending on whether the host vehicle 100 is traveling in a group.

[0029] As an example, the execution unit 22 executes, as the rider assistance operation, a notification operation to notify the rider of another vehicle located around the host vehicle 100 traveling in the blind spot of the host vehicle 100. For example, when the acquisition unit 21 acquires positional relationship information corresponding to a state in which another vehicle is traveling at a relative distance below a threshold in an area to the side of the host vehicle 100 that may be a blind spot for the rider, the execution unit 22 executes the notification operation for the rider. In the notification operation, the presence or absence of another vehicle traveling in the blind spot of the host vehicle 100 may be notified, and the state (for example, a rank indicating the relative distance or the degree thereof, a rank indicating the relative speed or the degree thereof, a model of the other vehicle, etc.) may be notified. The execution unit 22 changes the notification operation depending on whether the traveling of the host vehicle 100 is a group traveling or not.

[0030] The execution unit 22 permits the execution of a rider assistance operation when the vehicle 100 is not traveling in a group, and prohibits the execution of the rider assistance operation when the vehicle 100 is traveling in a group. The execution unit 22 may disable the execution of the rider assistance operation itself, or may prohibit the execution of the rider assistance operation by narrowing or shifting the detection range of the surrounding environment sensor 11 or the processing calculation range for acquiring positional relationship information by the acquisition unit 21 in a state in which the rider assistance operation can be executed. For example, when the execution unit 22 determines that the vehicle 100 is traveling in a group, it narrows or shifts the detection range or the processing calculation range so that other lean vehicles traveling in the same group as the vehicle 100 are not included.

[0031] When the host vehicle 100 is traveling in a group, the execution unit 22 executes a rider assistance operation with a reduced degree of assistance for the rider compared to when the host vehicle 100 is not traveling in a group. The execution unit 22 may reduce the degree of assistance by changing the control parameters of the rider assistance operation themselves, or may reduce the degree of assistance of the rider assistance operation by narrowing or shifting the detection range of the surrounding environment sensor 11 or the processing calculation range for acquiring positional relationship information by the acquisition unit 21 without changing the control parameters of the rider assistance operation. For example, when the execution unit 22 determines that the host vehicle 100 is traveling in a group, it narrows or shifts the detection range or the processing calculation range so that other lean vehicles traveling in the same group as the host vehicle 100 are less likely to be included.

[0032] For example, if the rider assistance action is a notification action for the rider, or if the rider assistance action is a control action for the speed, acceleration, or jerk occurring in the host vehicle 100, the execution unit 22 reduces the degree of assistance of the rider assistance action by delaying the start time of the rider assistance action. The execution unit 22 may delay the start time of the rider assistance action by providing or extending a time delay from the decision to execute the rider assistance action to the actual execution of the rider assistance action, or may delay the start time of the rider assistance action by changing a threshold value serving as a start criterion for the rider assistance action (e.g., possibility of collision, relative distance, passing time difference, amount of operation of the braking device 40 by the rider, etc.) to a value that makes the start criterion less likely to be satisfied.

[0033] For example, when the rider assistance action is a notification action for the rider, the execution unit 22 suppresses the degree of assistance of the rider assistance action by reducing the perceptibility of the notification to the rider. The execution unit 22 may reduce the intensity of the notification (e.g., the brightness of the display, the size of the display, the size of the sound, the amplitude of the vibration, etc.) to reduce the perceptibility of the notification to the rider, or may reduce the period of the notification (e.g., the period of the display change, the period of the sound volume change, the frequency of the vibration, etc.) to reduce the perceptibility of the notification to the rider. The execution unit 22 may also reduce the perceptibility of the notification to the rider by switching the type of perception to one that is less perceptible to the rider. For example, notification to the rider by vibration may be switched to notification to the rider by display or sound. The execution unit 22 may also reduce the perceptibility of the notification to the rider by switching the notification device 30 to one that is less perceptible to the rider. For example, a display or sound notification using the notification device 30 provided on the helmet may be switched to a display or sound notification using the notification device 30 provided on the vehicle 100 .

[0034] For example, when the rider assistance action is a control action of the speed, acceleration, or jerk occurring in the host vehicle 100, the execution unit 22 suppresses the degree of assistance of the rider assistance action by reducing the amount of change in the speed, acceleration, or jerk. The execution unit 22 may change the target speed set in the control action so as to approach the vehicle speed of the host vehicle 100, may reduce the upper limit of the absolute value of the target acceleration or the absolute value of the target jerk set in the control action, may reduce the absolute value of the target acceleration or the absolute value of the target jerk set in the control action throughout the entire period of the control action, or may reduce the absolute value of the target acceleration or the absolute value of the target jerk set in the control action immediately after the start of the control action and gradually increase the absolute value. The execution unit 22 may vary the amount of change according to, for example, the degree of possibility of a collision between the host vehicle 100 and the object (here, other lean vehicles traveling in the same group as the host vehicle 100), the degree of relative distance to the host vehicle 100 of the other vehicles (here, other lean vehicles traveling in the same group as the host vehicle 100), the degree of passing time difference between the other vehicles (here, other lean vehicles traveling in the same group as the host vehicle 100) and the host vehicle 100, etc.

[0035] In addition, when the rider assistance action is a control action to decelerate the host vehicle 100, the execution unit 22 may determine whether or not to execute the reduction of the amount of change in the speed, acceleration, or jerk when it is determined that the traveling of the host vehicle 100 is group traveling, depending on the situation behind and / or the situation ahead of the host vehicle 100. In addition, when the rider assistance action is a control action to accelerate the host vehicle 100, the execution unit 22 may determine whether or not to execute the reduction of the amount of change in the speed, acceleration, or jerk when it is determined that the traveling of the host vehicle 100 is group traveling, depending on the situation behind and / or the situation ahead of the host vehicle 100. The execution unit 22 may determine whether to maintain or reduce the degree of reduction in the amount of change, rather than whether or not to execute the reduction of the amount of change in the speed, acceleration, or jerk. Regardless of whether the vehicle 100 is traveling in a group, the execution unit 22 may determine whether the rider assistance operation will execute a control operation to decelerate or accelerate the vehicle 100, or the degree of deceleration or acceleration, depending on the situation behind and / or in front of the vehicle 100.

[0036] As shown in Fig. 3 and Fig. 4, for example, when the rider assistance operation is a control operation to decelerate the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 200 located behind the host vehicle 100 are separated in the lane width direction or the vehicle width direction. Also, for example, when the rider assistance operation is a control operation to decelerate the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 300 located in front of the host vehicle 100 are approaching each other in the lane width direction or the vehicle width direction. Also, for example, when the rider assistance operation is a control operation to accelerate the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 200 located behind the host vehicle 100 are approaching each other in the lane width direction or the vehicle width direction. Also, for example, when the rider assistance operation is a control operation for accelerating the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 300 located in front of the host vehicle 100 are separated in the lane width direction or the vehicle width direction. As shown in Fig. 3, whether the host vehicle 100 and the other lean vehicles 200, 300 are separated or approaching in the lane width direction or the vehicle width direction may be determined by comparing the relative distance in the lane width direction or the vehicle width direction between the vehicle width center line or the running trajectory (past, present, or future running trajectory) of the host vehicle 100 and the vehicle width center line or the running trajectory (past, present, or future running trajectory) of the other lean vehicles 200, 300 with a reference value. Also, as shown in FIG. 4, whether the host vehicle 100 and the other lean vehicles 200, 300 are approaching or separating in the lane width direction or vehicle width direction can be determined by comparing the degree of overlap between a line extending in the fore-and-aft direction of the vehicle body passing through the vehicle width end of the host vehicle 100 or the trajectory of that end (past, present or future trajectory) and a line extending in the fore-and-aft direction of the vehicle body passing through the vehicle width end of the other lean vehicles 200, 300 or the trajectory of that end (past, present or future trajectory) with a reference value.At that time, it is preferable to take into consideration an increase in vehicle width accompanying an increase in leanness in the host vehicle 100 and / or the other lean vehicles 200, 300.

[0037] As shown in Fig. 5, for example, when the rider assistance operation is a control operation for decelerating the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 200 located behind the host vehicle 100 are separated in the lane extension direction or the vehicle body longitudinal direction. Also, for example, when the rider assistance operation is a control operation for decelerating the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 300 located in front of the host vehicle 100 are approaching each other in the lane extension direction or the vehicle body longitudinal direction. Also, for example, when the rider assistance operation is a control operation for accelerating the host vehicle 100, the execution unit 22 does not execute the reduction of the change amount of the speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 200 located behind the host vehicle 100 are approaching each other in the lane extension direction or the vehicle body longitudinal direction. Also, for example, when the rider assistance action is a control action to accelerate the host vehicle 100, the execution unit 22 does not execute a reduction in the amount of change in speed, acceleration, or jerk in a situation where the host vehicle 100 and another lean vehicle 300 located in front of the host vehicle 100 are separated in the lane extension direction or the fore-and-aft direction of the vehicle body.The execution unit 22 may determine whether or not to execute the reduction of the change amount of the speed, acceleration, or jerk using the straight-line distance between the host vehicle 100 and the other lean vehicles 200, 300 instead of the distance between the host vehicle 100 and the other lean vehicles 200, 300 in the lane extension direction or the vehicle body longitudinal direction, and may also determine whether or not to execute other rider assistance operations at that time (for example, a notification operation to notify the rider of the possibility of a collision between the host vehicle 100 and an object located around the host vehicle 100, The decision as to whether or not to reduce the amount of change in speed, acceleration, or jerk may be made using information on whether or not an alarm operation (such as an alarm operation to alert the rider of the relative distance or passing time difference of another vehicle to the vehicle 100, an alarm operation to alert the rider of aggressive driving by another vehicle located around the vehicle 100, or an alarm operation to alert the rider of driving in the blind spot of the vehicle 100 by another vehicle located around the vehicle 100) has been performed, or information used in determining whether or not such an alarm operation has been performed.

[0038] <Rider Assistance System Operation> The operation of the rider support system according to the embodiment will be described. FIG. 6 is a diagram showing an operation flow of the control device of the rider assistance system according to the embodiment of the present invention.

[0039] The control device 20 executes the operation flow shown in FIG.

[0040] (Acquisition step) In step S101, the acquisition unit 21 acquires positional relationship information between the host vehicle 100 and objects located around the host vehicle 100 based on the surrounding environment information of the host vehicle 100 while the host vehicle 100 is traveling.

[0041] (Steps to be taken) In step S102, the execution unit 22 executes a rider assistance operation to assist the rider of the traveling vehicle 100, based on the positional relationship information acquired by the acquisition unit 21. Then, the execution unit 22 changes the rider assistance operation depending on whether the traveling of the vehicle 100 is a group traveling in which a plurality of lean vehicles are traveling as a group.

[0042] <Effects of rider support systems> The effects of the rider support system according to the embodiment will be described. The control device 20 includes an acquisition unit 21 that acquires positional relationship information between the host vehicle 100 and objects located around the host vehicle 100 based on the surrounding environment information of the host vehicle 100 while the host vehicle 100 is traveling, and an execution unit 22 that executes a rider assistance operation to assist the rider of the host vehicle 100 while traveling based on the positional relationship information acquired by the acquisition unit 21, and the execution unit 22 changes the rider assistance operation depending on whether the host vehicle 100 is traveling in a group traveling mode where multiple lean vehicles are traveling in a group or in a group traveling mode. Therefore, it becomes possible to respond to a situation where a platoon specific to lean vehicles is adopted, improving the safety of the rider.

[0043] Preferably, the execution unit 22 permits the execution of the rider assistance operation when the vehicle 100 is not traveling in a group, and prohibits the execution of the rider assistance operation when the vehicle 100 is traveling in a group. By being configured in this manner, the improvement of the rider's safety is ensured.

[0044] Preferably, when the vehicle 100 is traveling in a group, the execution unit 22 executes a rider assistance operation with a reduced degree of assistance for the rider compared to when the vehicle 100 is not traveling in a group. By being configured in this manner, improvement of the rider's safety is ensured.

[0045] Although the embodiments have been described above, only a part of the embodiments may be implemented, or a part of the embodiments may be modified in a different manner. In other words, the present invention is not limited to the description of the embodiments.

[0046] For example, in the above, a case has been described in which the acquisition unit 21 acquires positional relationship information between the host vehicle 100 and objects located around the host vehicle 100 based on surrounding environment information detected by the surrounding environment sensor 11, but the acquisition unit 21 may also acquire positional relationship information between the host vehicle 100 and objects located around the host vehicle 100 using other means (e.g., wireless communication between the host vehicle 100 and objects located in its vicinity, wireless communication between the host vehicle 100 and infrastructure facilities located in its vicinity, etc.). [Explanation of symbols]

[0047] 1 Rider assistance system, 11 Surrounding environment sensor, 12 Vehicle behavior sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit, 30 Notification device, 40 Braking device, 50 Drive device, 100 Vehicle, 200, 300 Other lean vehicles.

Claims

1. A control device (20) for a rider assistance system (1) for assisting a rider of a lean vehicle, comprising: an acquisition unit (21) that acquires positional relationship information between the vehicle (100) and objects located around the vehicle (100) based on surrounding environment information of the vehicle (100) while the vehicle (100) is traveling; an execution unit (22) that executes a rider assistance operation to assist the rider in driving the vehicle (100) while the rider is traveling, based on the positional relationship information acquired by the acquisition unit (21); It is equipped with When the vehicle (100) is traveling in a group, the execution unit (22) executes the rider assistance operation with a reduced degree of assistance for the rider, compared to when the vehicle (100) is not traveling in a group. A control device (20).

2. the execution unit (22) permits execution of the rider assistance operation when the vehicle (100) is not traveling in a group, and prohibits execution of the rider assistance operation when the vehicle (100) is traveling in a group. The control device (20) of claim 1.

3. When the vehicle (100) is traveling in a group, the execution unit (22) delays the start time of the rider assistance operation and suppresses the degree of assistance, compared to when the vehicle (100) is not traveling in a group. The control device (20) of claim 1.

4. The rider assistance operation includes a notification operation for notifying the rider. The control device (20) of claim 1.

5. The rider assistance operation includes a notification operation for providing a notification to the rider, When the vehicle (100) is traveling in the group, the execution unit (22) reduces the perceptibility of the notification by the rider and suppresses the degree of assistance, compared to when the vehicle (100) is not traveling in the group. The control device (20) of claim 1.

6. The notification operation is an operation of notifying the rider of a possibility of a collision between the vehicle (100) and the object. A control device (20) according to claim 4 or 5.

7. The notification operation is an operation of notifying the rider of a relative distance or a passing time difference of the other vehicle as the target with respect to the vehicle (100). A control device (20) according to claim 4 or 5.

8. The notification operation is an operation of notifying the rider of tailgating by another vehicle as the target against the vehicle (100). A control device (20) according to claim 4 or 5.

9. The notification operation is an operation of notifying the rider of a vehicle (100) passing through a blind spot of the vehicle (100) as the target. A control device (20) according to claim 4 or 5.

10. The rider assistance operation includes a control operation for controlling a speed, acceleration, or jerk occurring in the vehicle (100). A control device (20) according to any one of the preceding claims.

11. The rider assistance operation includes a control operation for controlling a speed, acceleration, or jerk occurring in the host vehicle (100), When the vehicle (100) is traveling in the group traveling, the execution unit (22) reduces the amount of change in the speed, acceleration, or jerk to suppress the degree of assistance, compared to when the vehicle (100) is not traveling in the group traveling. A control device (20) according to any one of claims 1, 3 and 5.

12. The control operation is an operation for reducing a possibility of a collision between the host vehicle (100) and the object. The control device (20) of claim 10.

13. The control operation is an operation of adjusting a relative distance or a passing time difference between the host vehicle (100) and another vehicle as the target. The control device (20) of claim 10.

14. A control method for a rider assistance system (1) for assisting a rider of a lean vehicle, comprising: An acquisition step (S101) in which an acquisition unit (21) of a control device (20) acquires positional relationship information between the host vehicle (100) and objects located around the host vehicle (100) based on surrounding environment information of the host vehicle (100) while the host vehicle (100) is traveling; an execution step (S102) in which an execution unit (22) of the control device (20) executes a rider assistance operation to assist the rider in driving the vehicle (100) while the rider is traveling, based on the positional relationship information acquired in the acquisition step (S101); It is equipped with In the execution step (S102), when the vehicle (100) is traveling in a group, the execution unit (22) executes the rider assistance operation with a reduced degree of assistance for the rider, compared to when the vehicle (100) is not traveling in a group. Control methods.

Images