CONTROL DEVICE, AMBITION ENVIRONMENT ACQUISITION SYSTEM, LEAN VEHICLE, AND CONTROL METHOD

Abstract

To provide a control device which can suppress reduction in support accuracy of a rider by a rider support system in comparison to a conventional technique even when a peripheral environment detection device moves together with a handle of a lean vehicle.SOLUTION: A control device controls the attitude of a peripheral environment detection device for detecting a peripheral environment of a lean vehicle for supporting drive of a rider of the lean vehicle. The peripheral environment detection device detects the peripheral environment on the front side of at least the lean vehicle when being mounted on the lean vehicle and moves together with a handle of the lean vehicle. The control device is configured to operate a drive mechanism for changing the attitude of the peripheral environment detection device when the lean vehicle turns, and change the attitude of the peripheral environment detection device such that the detection central axis of the peripheral environment detection device faces upward in comparison to a case where the drive mechanism is not operated.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control device that controls the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle to assist the driving of a rider of the lean vehicle, a surrounding environment acquisition system equipped with the control device, a lean vehicle equipped with the surrounding environment acquisition system, and a control method for controlling the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle to assist the driving of a rider of the lean vehicle. [Background technology]

[0002] A conventional motorcycle, which is a type of lean vehicle, has been proposed that employs a rider assistance system that assists the rider in driving (see, for example, Patent Document 1). The rider assistance system detects the surrounding environment of the motorcycle using a surrounding environment detection device mounted on the motorcycle, and performs operations (for example, a warning function, an emergency braking function, a cruising function, etc.) that assist the rider in driving the motorcycle based on the detection results of the surrounding environment detection device. Note that a lean vehicle is a vehicle whose body tilts in the turning direction when turning. [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] When the surrounding environment detection device is mounted on a lean vehicle, it is assumed that the surrounding environment detection device is mounted at a position where it moves together with the handlebars. Here, when the vehicle body of the lean vehicle tilts in the turning direction during turning, self-steering occurs, in which the handlebars naturally turn in the turning direction. For this reason, in a configuration in which the surrounding environment detection device moves together with the handlebars of the lean vehicle, when the lean vehicle turns, the surrounding environment detection device faces the ground. That is, in a configuration in which the surrounding environment detection device moves together with the handlebars of the lean vehicle, when the lean vehicle turns, the detection central axis of the surrounding environment detection device faces the ground when the lean vehicle turns, compared to when the lean vehicle is moving straight. For this reason, in a configuration in which the surrounding environment detection device moves together with the handlebars of the lean vehicle, the accuracy of the rider support provided by the rider support system may be reduced due to occurrences such as failure to detect distant objects and detection of the ground as an obstacle.

[0005] The present invention has been made in light of the above-mentioned problems, and has an object to provide a control device that controls the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle in order to assist the driving of a rider of the lean vehicle, and that can suppress a decrease in the accuracy of rider assistance by a rider assistance system more than ever before, even when the surrounding environment detection device is configured to move together with the handlebars of the lean vehicle. Another object of the present invention is to provide a surrounding environment acquisition system including a control device configured in this manner. Another object of the present invention is to provide a lean vehicle including a surrounding environment acquisition system configured in this manner. Another object of the present invention is to provide a control method for controlling the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle in order to assist the driving of a rider of the lean vehicle, and that can suppress a decrease in the accuracy of rider assistance by the rider assistance system more than ever before, even when the surrounding environment detection device is configured to move together with the handlebars of the lean vehicle. [Means for solving the problem]

[0006] The control device of the present invention is a control device that controls the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle to assist the driving of a rider of the lean vehicle, wherein the surrounding environment detection device, when mounted on the lean vehicle, detects the surrounding environment at least in front of the lean vehicle and moves together with the handlebars of the lean vehicle, and the control device is configured to operate a drive mechanism that changes the attitude of the surrounding environment detection device when the lean vehicle turns, and change the attitude of the surrounding environment detection device so that the detection central axis of the surrounding environment detection device is upward compared to when the drive mechanism is not operated.

[0007] In addition, the surrounding environment acquisition system of the present invention includes a surrounding environment detection device that, when mounted on the lean vehicle, detects the surrounding environment at least in front of the lean vehicle and moves together with the steering wheel of the lean vehicle, a drive mechanism that changes the attitude of the surrounding environment detection device, and a control device of the present invention.

[0008] Moreover, the lean vehicle according to the present invention includes the surrounding environment acquisition system according to the present invention.

[0009] In addition, the control method of the present invention is a control method for controlling the attitude of a surrounding environment detection device that detects the surrounding environment of a lean vehicle to assist the driving of a rider of the lean vehicle, wherein when mounted on the lean vehicle, the surrounding environment detection device detects the surrounding environment at least in front of the lean vehicle and moves together with the handlebars of the lean vehicle, and the control device includes an attitude control step of operating a drive mechanism that changes the attitude of the surrounding environment detection device when the lean vehicle turns, and changing the attitude of the surrounding environment detection device so that the detection central axis of the surrounding environment detection device is upward compared to when the drive mechanism is not operated. Effect of the Invention

[0010] In the present invention, when a lean vehicle turns, the attitude of the surrounding environment detection device is changed by the drive mechanism, i.e., a mechanical mechanism, so that the detection central axis of the surrounding environment detection device faces upward compared to when the drive mechanism is not operated. Therefore, in the present invention, even when the surrounding environment detection device is configured to move together with the handlebars of the lean vehicle, the vertical deviation of the detection central axis of the surrounding environment detection device when the lean vehicle is traveling straight and when it is turning can be made smaller than in the past. Therefore, even when the surrounding environment detection device is configured to move together with the handlebars of the lean vehicle, the present invention can suppress a decrease in the accuracy of rider assistance provided by the rider assistance system more than in the past. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view of a lean vehicle equipped with an ambient environment acquisition system according to an embodiment of the present invention. [Diagram 2] 1 is a schematic diagram of the periphery of a front wheel of a lean vehicle according to an embodiment of the present invention, observed from the front of the lean vehicle in a state in which the lean vehicle is tilted to the side. [Diagram 3] 1 is a schematic diagram of the periphery of a front wheel of a lean vehicle according to an embodiment of the present invention, observed from the side of the lean vehicle in a state in which the lean vehicle is tilted to the side. [Figure 4] 1 is a schematic diagram of the periphery of a front wheel of a lean vehicle according to an embodiment of the present invention, observed from the side of the lean vehicle in a state in which the lean vehicle is tilted to the side. [Diagram 5] FIG. 2 is a diagram showing an example of a drive mechanism according to an embodiment of the present invention. [Figure 6] 1 is a block diagram showing an example of a control device of a surrounding environment acquisition system according to an embodiment of the present invention. [Figure 7] FIG. 4 is a diagram showing a control flow of an example of an operation in a control device of the surrounding environment acquisition system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control device, a surrounding environment acquisition system, a lean vehicle, and a control method according to the present invention will be described below with reference to the drawings.

[0013] Note that the configuration, operation, etc. described below are one example of the present invention, and the present invention is not limited to such configuration, operation, etc.

[0014] For example, in the following, a motorcycle is exemplified as a lean vehicle. However, a lean vehicle generally refers to a vehicle whose body tilts in the turning direction when turning. Therefore, a lean vehicle is not limited to a motorcycle. For example, a lean vehicle includes a motorcycle whose body tilts in the turning direction when turning (a motorcycle, a three-wheeled motor vehicle whose body tilts in the turning direction when turning), a bicycle, etc. In addition, a motorcycle whose body tilts in the turning direction when turning may be one whose propulsion source is an engine or one whose propulsion source is an electric motor, and includes, for example, a motorcycle, a scooter, an electric scooter, etc. In addition, a bicycle means a vehicle that can be propelled on a road by a rider's pedaling force applied to the pedals. A bicycle includes a normal bicycle, an electrically assisted bicycle, an electric bicycle, etc.

[0015] In the following, the same or similar descriptions are appropriately simplified or omitted. In addition, in each drawing, the same or similar members or parts are not labeled with a reference symbol, or are labeled with the same reference symbol. In addition, the illustration of detailed structures is appropriately simplified or omitted.

[0016] Embodiment A control device according to an embodiment, a surrounding environment acquisition system including the control device, a lean vehicle including the surrounding environment acquisition system, and a control method according to the embodiment will be described below.

[0017] <Configuration of a lean vehicle equipped with an ambient environment acquisition system> The configurations of a control device according to an embodiment, a surrounding environment acquisition system including the control device, and a lean vehicle including the surrounding environment acquisition system will be described.

[0018] 1 is a side view of a lean vehicle equipped with a surrounding environment acquisition system according to an embodiment of the present invention. In FIG. 1, the right side of the paper surface corresponds to the front side of the lean vehicle 1. The lean vehicle 1 is, for example, a motorcycle. The lean vehicle 1 includes a front wheel 3 and a handlebar 2 that is connected to the front wheel 3 and serves as an operating section for the front wheel 3. In this embodiment, the lean vehicle 1 also includes a suspension 4 between the vehicle body and the front wheel 3.

[0019] The lean vehicle 1 is equipped with a rider assistance system. This rider assistance system includes a surrounding environment acquisition system 10 and a control device 5. The surrounding environment acquisition system 10 includes a surrounding environment detection device 11. The surrounding environment detection device 11 detects the surrounding environment of the lean vehicle 1 to assist the rider of the lean vehicle 1 in driving, and detects, for example, objects (for example, obstacles, preceding vehicles, signs, etc.) located around the lean vehicle 1. The surrounding environment detection device 11 is, for example, a radar, an imaging device, or an ultrasonic sensor. In this embodiment, the surrounding environment detection device 11 detects at least the surrounding environment in front of the lean vehicle 1 when mounted on the lean vehicle 1. In this embodiment, the surrounding environment detection device 11 is configured to be directly provided on the handlebar 2, or configured to be provided on a structure that moves together with the handlebar 2. That is, the surrounding environment detection device 11 is configured to move together with the handlebar 2 of the lean vehicle 1. Details of the surrounding environment acquisition system 10 will be described later.

[0020] The control device 5 executes operations (e.g., a warning function, an emergency braking function, a cruising function, etc.) to assist the rider in driving the lean vehicle 1 based on the detection result of the surrounding environment detection device 11. For example, a part or all of the control device 5 is configured with a microcomputer, a microprocessor unit, etc. Also, for example, a part or all of the control device 5 may be configured with an updatable firmware, etc., or may be a program module executed by a command from a CPU, etc. The control device 5 may be, for example, one unit, or may be divided into multiple units. The running condition detection device 40 shown in FIG. 1 detects the running condition of the lean vehicle 1, and will be described in detail later.

[0021] FIG. 2 is a schematic diagram of the periphery of the front wheels of a lean vehicle according to an embodiment of the present invention, observed from the front of the lean vehicle when the lean vehicle is tilted to the side. FIG. 3 and FIG. 4 are schematic diagrams of the periphery of the front wheels of a lean vehicle according to an embodiment of the present invention, observed from the side of the lean vehicle when the lean vehicle is tilted to the side. FIG. 2 shows a lean vehicle 1 tilted in the turning direction at a lean angle α. FIG. 3 and FIG. 4 are views of the periphery of the front wheels 3 of the lean vehicle 1 tilted in the turning direction at a lean angle α, observed from the side, with the right side of the paper being the front of the lean vehicle 1. FIG. 2 and FIG. 3 show the lean vehicle 1 in a state where self-steering is not occurring. FIG. 4 shows the lean vehicle 1 in a state where self-steering is occurring. FIG. 4 shows the detection center axis 12 of the surrounding environment detection device 11 in a state where self-steering is not occurring (in other words, the detection center axis 12 shown in FIG. 3) by an imaginary two-dot chain line. As described below, when viewed from the side of the lean vehicle 1, the direction of the detection central axis 12 of the surrounding environment detection device 11 when no self-steering is occurring is approximately the same as the direction of the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight.

[0022] When the lean vehicle 1 turns, the vehicle body tilts in the turning direction. Here, if self-steering does not occur in the lean vehicle 1 when the lean vehicle 1 turns, the detection central axis 12 of the surrounding environment detection device 11 will be in approximately the same direction when the lean vehicle 1 travels straight and when the lean vehicle 1 turns. For example, when the lean vehicle 1 travels straight, the detection central axis 12 of the surrounding environment detection device 11 is oriented in an approximately horizontal direction when viewed from the side of the lean vehicle 1. In this case, if self-steering does not occur when the lean vehicle 1 turns, the detection central axis 12 of the surrounding environment detection device 11 will be approximately horizontal when viewed from the side of the lean vehicle 1, as shown in FIG. 3.

[0023] However, in the lean vehicle 1, when the vehicle body tilts in the turning direction during turning, self-steering occurs in which the handlebars 2 naturally turn in the turning direction. For this reason, in a configuration in which the surrounding environment detection device 11 moves together with the handlebars 2, when the lean vehicle 1 turns, as shown in FIG. 4, the surrounding environment detection device 11 faces the ground. That is, in a configuration in which the surrounding environment detection device 11 moves together with the handlebars 2, when the lean vehicle 1 turns, as shown in FIG. 4, the detection central axis 12 of the surrounding environment detection device 11 faces the ground when the lean vehicle 1 turns, compared to when the lean vehicle 1 moves straight. For this reason, in a configuration in which the surrounding environment detection device 11 moves together with the handlebars 2, the accuracy of the rider support provided by the rider support system may be reduced due to occurrences such as failure to detect distant objects and detection of the ground as an obstacle.

[0024] Here, it is also conceivable to change the detection range of the surrounding environment detection device 11 by software, and correct the deviation of the detection central axis 12 of the surrounding environment detection device 11 that occurs when the lean vehicle 1 turns. However, in a configuration in which the surrounding environment detection device 11 moves together with the steering wheel 2, the above-mentioned axis deviation during turning may become large, and it may be difficult to correct it by software.

[0025] 1, the surrounding environment acquisition system 10 according to the present embodiment includes a driving mechanism 20 and a control device 30 in addition to the surrounding environment detection device 11, and is configured to mechanically suppress the axial misalignment of the surrounding environment detection device 11. The surrounding environment acquisition system 10 according to the present embodiment will be described in detail below.

[0026] The driving mechanism 20 changes the attitude of the surrounding environment detection device 11. The driving mechanism 20 can be configured, for example, as shown in FIG.

[0027] Fig. 5 is a diagram showing an example of a drive mechanism according to an embodiment of the present invention. Fig. 5 is a diagram showing the surrounding environment detection device 11 and the drive mechanism 20 mounted on the lean vehicle 1, observed from the side of the lean vehicle 1. In Fig. 5, the right side of the paper surface is the front of the lean vehicle 1. In Fig. 5, the surrounding environment detection device 11 after its attitude has been changed by the drive mechanism 20 is shown by an imaginary two-dot chain line.

[0028] A rotating shaft 13 is attached to the surrounding environment detection device 11. The rotating shaft 13 is rotatably held by the steering wheel 2 of the lean vehicle 1 or by a structure that moves together with the steering wheel 2. The drive mechanism 20 includes a gear 21, a gear 22, and a motor 23. The gear 21 is attached to the surrounding environment detection device 11. The teeth of the gear 22 are meshed with the teeth of the gear 21. The gear 22 is attached to a drive shaft 24 of the motor 23. In the drive mechanism 20 configured in this manner, when the drive shaft 24 of the motor 23 rotates, the surrounding environment detection device 11 rotates in conjunction with the rotation of the rotating shaft 13, and the direction of the detection central axis 12 of the surrounding environment detection device 11 is changed in the vertical direction.

[0029] The configuration of the drive mechanism 20 shown in FIG. 5 is merely an example. The configuration of the drive mechanism 20 is arbitrary as long as the configuration can mechanically change the attitude of the surrounding environment detection device 11. For example, the drive mechanism 20 may include a linear actuator instead of the gear 21, the gear 22, and the motor 23, and the linear actuator may rotate the surrounding environment detection device 11 around the rotation shaft 13. For example, the surrounding environment detection device 11 may be attached to the lean vehicle 1 via a holder that holds the surrounding environment detection device 11. Such a holder may include an adjustment screw that adjusts the vertical direction of the detection central axis 12 of the surrounding environment detection device 11. In such a case, the drive mechanism 20 may be configured to transmit a driving force of a motor or the like to the adjustment screw and rotate the adjustment screw. The drive mechanism 20 may then rotate the adjustment screw to change the attitude of the surrounding environment detection device 11 so that the vertical direction of the detection central axis 12 of the surrounding environment detection device 11 changes.

[0030] The control device 30 is, for example, partially or entirely configured with a microcomputer, a microprocessor unit, or the like. Also, for example, part or entirely of the control device 30 may be configured with firmware or the like that can be updated, or may be a program module executed by a command from a CPU or the like. The control device 30 may be, for example, one, or may be divided into a plurality of devices. Also, at least a part of the control device 30 may be formed integrally with at least a part of the control device 5. This control device 30 controls the attitude of the surrounding environment detection device 11. Specifically, the control device 30 is configured to operate the drive mechanism 20 when the lean vehicle 1 turns, and to change the attitude of the surrounding environment detection device 11 so that the detection central axis 12 of the surrounding environment detection device 11 faces upward compared to when the drive mechanism 20 is not operated. For example, the control device 30 can be configured as shown in FIG. 6.

[0031] FIG. 6 is a block diagram showing an example of a control device of the surrounding environment acquisition system according to the embodiment of the present invention. The control device 30 operates the drive mechanism 20 based on the detection result of a running condition detection device 40 that detects information on the running condition of the lean vehicle 1.

[0032] The running condition detection device 40 includes at least one detection device. The detection device constituting the running condition detection device 40 may be a detection device provided exclusively for the running condition detection device 40, or a detection device used for another purpose may be used as the detection device of the running condition detection device 40.

[0033] The running state detection device 40 includes at least a detection device that detects information on the turning degree of the lean vehicle 1. Here, the turning degree indicates the degree of turning of the lean vehicle 1. For example, when the lean vehicle 1 runs at the same speed, the smaller the turning radius, the larger the turning degree. Also, for example, when the lean vehicle 1 turns at the same turning radius, the higher the speed, the larger the turning degree. And, as the turning degree increases, at least one of the lean angle of the lean vehicle 1 and the steering angle by self-steering increases. Therefore, as the turning degree increases, the deviation of the detection center axis 12 of the surrounding environment detection device 11 increases when the lean vehicle 1 is traveling straight and when turning.

[0034] For example, the running state detection device 40 includes a detection device that detects at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 as a detection device that detects information on the turning degree of the lean vehicle 1. The detection device that detects at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 may detect a physical quantity that can be substantially converted into these pieces of information. As the turning degree of the lean vehicle 1 increases, the lean angle of the lean vehicle 1 also generally increases. Furthermore, when the lean vehicle 1 turns, the yaw rate and lateral acceleration of the lean vehicle 1 generally increase and decrease corresponding to the increase and decrease in the lean angle of the lean vehicle 1. Therefore, the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 can be used as information on the turning degree of the lean vehicle 1.

[0035] When detecting multiple items among the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1, the running condition detection device 40 may be provided with separate detection devices for detecting each piece of information, or at least two of these pieces of information may be detected by one detection device. In this embodiment, the running condition detection device 40 is provided with an inertial measurement device as a detection device for detecting information on the turning degree of the lean vehicle 1, and detects at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1. The inertial measurement device is provided with a three-axis gyro sensor and a three-direction acceleration sensor, and outputs the detection results of the three-axis acceleration and three-axis angular velocity of the lean vehicle 1.

[0036] When the running state detection device 40 includes a detection device for detecting at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1, it is preferable that the running state detection device 40 includes a detection device for detecting the steering angle of the lean vehicle 1 as a detection device for detecting information on the turning degree of the lean vehicle 1. The detection device for detecting the steering angle of the lean vehicle 1 may detect a physical quantity that can be substantially converted into the steering angle of the lean vehicle 1. As described above, the deviation of the detection center axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when turning is caused by the lean angle and steering angle of the lean vehicle 1. Therefore, by detecting the steering angle of the lean vehicle 1, the control device 30 can more accurately grasp the deviation of the detection center axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when turning.

[0037] Furthermore, for example, when the surrounding environment detection device 11 is an imaging device, the traveling state detection device 40 may use the surrounding environment detection device 11 as a detection device that detects information on the turning degree of the lean vehicle 1. This is because by comparing the imaging data of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and the imaging data of the surrounding environment detection device 11 when the lean vehicle 1 is turning, it is possible to detect a deviation of the detection center axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when turning.

[0038] Furthermore, when the running state detection device 40 includes a detection device for detecting at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1, it is preferable that the running state detection device 40 includes a detection device for detecting attitude information in the pitching direction of the lean vehicle 1 while turning, in addition to the detection device for detecting information on the turning degree of the lean vehicle 1. The pitching direction is the direction indicated by the arc-shaped arrow P in FIG. 1. When the attitude of the lean vehicle 1 in the pitching direction changes while the lean vehicle 1 is turning, the deviation amount of the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when turning also changes. Therefore, by detecting the attitude information in the pitching direction while the lean vehicle 1 is turning, the control device 30 can more accurately grasp the deviation of the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when turning.

[0039] For example, the running condition detection device 40 includes a detection device that detects the pitching angle of the lean vehicle 1 as a detection device that detects posture information in the pitching direction of the lean vehicle 1 while it is turning. This is because when the posture of the lean vehicle 1 in the pitching direction changes, the pitching angle of the lean vehicle 1 also changes. The detection device that detects the pitching angle of the lean vehicle 1 may be one that detects a physical quantity that can be substantially converted into the pitching angle of the lean vehicle 1. In this embodiment, the above-mentioned inertial measurement unit is used as the detection device that detects the pitching angle of the lean vehicle 1.

[0040] Also, for example, the detection device for detecting posture information in the pitching direction of the lean vehicle 1 while turning, which is provided in the running condition detection device 40, may be a detection device for detecting the amount of expansion and contraction of the suspension 4 on the front wheel 3 side of the lean vehicle 1. This is because when the posture of the lean vehicle 1 in the pitching direction changes, the amount of expansion and contraction of the suspension 4 also changes. Note that the detection device for detecting the amount of expansion and contraction of the suspension 4 may be a device that detects a physical quantity that can be substantially converted into the amount of expansion and contraction of the suspension 4.

[0041] Also, for example, the detection device for detecting the attitude information in the pitching direction of the lean vehicle 1 during turning, which is provided in the running state detection device 40, may be a detection device for detecting the acceleration / deceleration in the longitudinal direction of the lean vehicle 1. This is because when the attitude of the lean vehicle 1 in the pitching direction changes, the acceleration / deceleration in the longitudinal direction of the lean vehicle 1 also changes. The detection device for detecting the acceleration / deceleration in the longitudinal direction of the lean vehicle 1 may detect a physical quantity that can be substantially converted into the acceleration / deceleration in the longitudinal direction of the lean vehicle 1. In this embodiment, the above-mentioned inertial measurement device is used as the detection device for detecting the acceleration / deceleration in the longitudinal direction of the lean vehicle 1. The acceleration / deceleration in the longitudinal direction of the lean vehicle 1 may be detected from the amount of change per unit time in the speed of the lean vehicle 1.

[0042] The control device 30 includes, as functional units, an information acquisition unit 31, a raising angle determination unit 32, and an operation control unit 33.

[0043] The information acquisition unit 31 is a functional unit that acquires the detection result of the traveling condition detection device 40. The operation control unit 33 is a functional unit that operates the drive mechanism 20 so as to achieve the raising angle θ determined by the raising angle determination unit 32 as described below.

[0044] The raising angle determination unit 32 is a functional unit that determines the amount by which the detection central axis 12 of the surrounding environment detection device 11 is directed upward when the lean vehicle 1 turns. Specifically, the angle by which the detection central axis 12 of the surrounding environment detection device 11 is directed upward when the lean vehicle 1 turns, compared to when the drive mechanism 20 is not operated, is defined as the raising angle θ. Here, when the drive mechanism 20 is not operated when the lean vehicle 1 turns, the driving mechanism 20 is not operated from the time of straight travel when the lean vehicle 1 turns from a straight travel state. For example, the detection central axis 12 of the surrounding environment detection device 11 that is horizontal to the page in FIG. 5 is defined as the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight. Then, the detection central axis 12 of the surrounding environment detection device 11 that is rising toward the right side of the page in FIG. 5 is defined as the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is turning. In this case, the raising angle θ is as shown in FIG. 5.

[0045] For example, the raising angle θ may be a fixed value. In this case, when the turning angle of the lean vehicle 1 is equal to or greater than a specified threshold value, the raising angle determination unit 32 sets the raising angle θ to a fixed value greater than 0°. Also, when the turning angle of the lean vehicle 1 is smaller than a specified threshold value, the raising angle determination unit 32 sets the raising angle θ to 0°. By determining the raising angle θ in this manner, when the operation control unit 33 operates the drive mechanism 20 during turning of the lean vehicle 1, the vertical deviation of the detection center axis 12 of the surrounding environment detection device 11 when viewed from the side of the lean vehicle 1 can be suppressed more than ever before when the lean vehicle 1 is traveling straight and when turning.

[0046] Moreover, the raising angle determination unit 32 may determine the raising angle θ according to the turning angle of the lean vehicle 1. That is, the raising angle determination unit 32 may determine the raising angle θ to be a larger value as the turning angle of the lean vehicle 1 becomes larger. The method of changing the raising angle θ is arbitrary. As the turning angle of the lean vehicle 1 becomes larger, the value of the raising angle θ may be increased linearly or in a stepwise manner. By the raising angle determination unit 32 determining the raising angle θ according to the turning angle of the lean vehicle 1, when the operation control unit 33 operates the drive mechanism 20 during the turning of the lean vehicle 1, the deviation in the vertical direction of the detection center axis 12 of the surrounding environment detection device 11 when viewed from the side of the lean vehicle 1 can be further suppressed between when the lean vehicle 1 is traveling straight and when the lean vehicle 1 is turning.

[0047] For example, the raising angle determination unit 32 uses the lean angle of the lean vehicle 1 as a parameter for determining the turning degree, and determines the raising angle θ based on the lean angle. Specifically, the raising angle determination unit 32 determines the raising angle θ to a larger value as the lean angle of the lean vehicle 1 increases when the lean vehicle 1 is turning. Also, for example, the raising angle determination unit 32 uses the yaw rate of the lean vehicle 1 as a parameter for determining the turning degree, and determines the raising angle θ based on the yaw rate. Specifically, the raising angle determination unit 32 determines the raising angle θ to a larger value as the yaw rate of the lean vehicle 1 increases when the lean vehicle 1 is turning. Also, for example, the raising angle determination unit 32 uses the lateral acceleration of the lean vehicle 1 as a parameter for determining the turning degree, and determines the raising angle θ based on the lateral acceleration. Specifically, the raising angle determination unit 32 determines the raising angle θ to a larger value as the lateral acceleration of the lean vehicle 1 increases when the lean vehicle 1 is turning.

[0048] The raising angle determination unit 32 may determine the raising angle θ using two or more of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 as parameters for determining the turning angle. This makes it possible to more accurately grasp the turning angle of the lean vehicle 1, and when the operation control unit 33 operates the drive mechanism 20 when the lean vehicle 1 turns, it is possible to further suppress the vertical deviation of the detection central axis 12 of the surrounding environment detection device 11 when viewed from the side of the lean vehicle 1 between when the lean vehicle 1 is traveling straight and when it is turning.

[0049] In addition, when the lean angle determination unit 32 uses at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 as a parameter for determining the turning degree, the lean angle determination unit 32 may further use the steering angle of the lean vehicle 1 as a parameter for determining the turning degree, and determine the lift angle θ based on these parameters. Specifically, the lift angle determination unit 32 determines the lift angle θ to be a larger value as the steering angle becomes larger when the lean vehicle 1 turns. As described above, the deviation of the detection center axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 travels straight and when the lean vehicle 1 turns is caused by the lean angle and steering angle of the lean vehicle 1. Therefore, by using the steering angle of the lean vehicle 1 as one of the parameters for determining the turning degree, when the operation control unit 33 operates the drive mechanism 20 when the lean vehicle 1 turns, the vertical deviation of the detection center axis 12 of the surrounding environment detection device 11 when viewed from the side of the lean vehicle 1 when the lean vehicle 1 travels straight and when the lean vehicle 1 turns can be further suppressed.

[0050] Furthermore, for example, if the surrounding environment detection device 11 is an imaging device, the raising angle determination unit 32 may determine the raising angle θ from the imaging data of the surrounding environment detection device 11. By comparing the imaging data of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight with the imaging data of the surrounding environment detection device 11 when the lean vehicle 1 is turning, it is possible to directly or supplementarily determine the deviation of the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 is traveling straight and when the lean vehicle 1 is turning. Therefore, when the operation control unit 33 operates the drive mechanism 20 when the lean vehicle 1 is turning, it is possible to suppress the vertical deviation of the detection central axis 12 of the surrounding environment detection device 11 when viewed from the side of the lean vehicle 1 when the lean vehicle 1 is traveling straight and when the lean vehicle 1 is turning.

[0051] Furthermore, when at least one of the lean angle, yaw rate, and lateral acceleration of the lean vehicle 1 is used as a parameter for determining the turning angle, the raising angle determination unit 32 may determine the raising angle θ based on the above-mentioned turning angle and attitude information in the pitching direction during turning of the lean vehicle 1. Specifically, the raising angle determination unit 32 determines the raising angle θ to be a larger value as the amount of front sinking relative to the rear of the body of the lean vehicle 1 increases when the lean vehicle 1 turns. Furthermore, the raising angle determination unit 32 determines the raising angle θ to be a smaller value as the amount of front lift relative to the rear of the body of the lean vehicle 1 increases when the lean vehicle 1 turns.

[0052] For example, the raising angle determination unit 32 uses the pitching angle of the lean vehicle 1 as the attitude information in the pitching direction while the lean vehicle 1 is turning. For example, the raising angle determination unit 32 uses the expansion and contraction amount of the suspension 4 on the front wheel 3 side of the lean vehicle 1 as the attitude information in the pitching direction while the lean vehicle 1 is turning. For example, the raising angle determination unit 32 uses the acceleration and deceleration in the front-rear direction of the lean vehicle 1 as the attitude information in the pitching direction while the lean vehicle 1 is turning. In detail, the raising angle determination unit 32 determines the raising angle θ to be a larger value as the deceleration increases when the lean vehicle 1 moves forward. Also, the raising angle determination unit 32 determines the raising angle θ to be a smaller value as the acceleration increases when the lean vehicle 1 moves forward.

[0053] <Operation of the control device of the ambient environment acquisition system> The operation of the control device 30 of the surrounding environment acquisition system 10 according to the embodiment will be described.

[0054] FIG. 7 is a diagram showing a control flow of an example of the operation in the control device of the surrounding environment acquisition system according to the embodiment of the present invention. When the conditions for starting the control are met, in step S10, the control device 30 starts the control shown in Fig. 7. The control start condition is when the engine of the lean vehicle 1 is started, etc. Step S20 is an information acquisition step. In step S20, the information acquisition unit 31 of the control device 30 acquires the detection result of the running condition detection device 40.

[0055] Step S30 after step S20 is a posture control step. The posture control step is a control step in which, when the lean vehicle 1 turns, the drive mechanism 20 is operated to change the posture of the surrounding environment detection device 11 so that the detection central axis 12 of the surrounding environment detection device 11 faces upward as compared with the case in which the drive mechanism 20 is not operated. Step S30 (posture control step) according to this embodiment includes step S31 and step S32.

[0056] Specifically, in step S31, the raising angle determination unit 32 of the control device 30 determines the raising angle θ by any of the methods described above based on the detection result obtained in step S10 by the running condition detection device 40. In step S32 after step S31, the operation control unit 33 of the control device 30 operates the drive mechanism 20 so as to achieve the raising angle θ determined in step S32.

[0057] Step S40 after step S30 is an end determination step. In step S40, the control device 30 determines whether or not the end condition of the control is met. The end condition of the control is, for example, that the engine of the lean vehicle 1 has stopped. If the end condition of the control is met, the control device 30 proceeds to step S50 and ends the control shown in FIG. 7. On the other hand, if the end condition of the control is not met, the control device 30 repeats steps S20 to S40. Note that, in the process of repeating steps S20 to S40, if the lean vehicle 1 is in a straight traveling state, the control device 30 returns the raising angle θ to 0° in step S30. Specifically, in step S31, the raising angle determination unit 32 determines the raising angle θ to 0°. Also, in step S32, the operation control unit 33 operates the drive mechanism 20 so that the raising angle θ becomes 0°.

[0058] <Effects of the control device of the ambient environment acquisition system> The control device 30 according to this embodiment is a control device that controls the attitude of the surrounding environment detection device 11 that detects the surrounding environment of the lean vehicle 1 to assist the driving of the rider of the lean vehicle 1. When mounted on the lean vehicle 1, the surrounding environment detection device 11 detects the surrounding environment at least in front of the lean vehicle 1 and moves together with the handlebars 2 of the lean vehicle 1. When the lean vehicle 1 turns, the control device 30 operates the drive mechanism 20 that changes the attitude of the surrounding environment detection device 11, and changes the attitude of the surrounding environment detection device 11 so that the detection central axis 12 of the surrounding environment detection device 11 faces upward compared to when the drive mechanism 20 is not operated.

[0059] In the control device 30 configured in this manner, when the lean vehicle 1 turns, the attitude of the surrounding environment detection device 11 is changed by the drive mechanism 20, i.e., by a mechanical mechanism, so that the detection central axis 12 of the surrounding environment detection device 11 faces upward compared to when the drive mechanism 20 is not operated. Therefore, in the control device 30 configured in this manner, even when the surrounding environment detection device 11 is configured to move together with the handlebars 2 of the lean vehicle 1, the vertical deviation of the detection central axis 12 of the surrounding environment detection device 11 when the lean vehicle 1 travels straight and when it turns can be made smaller than in the past. Therefore, the control device 30 configured in this manner can suppress a decrease in the accuracy of rider assistance provided by the rider assistance system more than in the past, even when the surrounding environment detection device 11 is configured to move together with the handlebars 2 of the lean vehicle 1.

[0060] The above describes the control device 30 according to the present embodiment, but the control device according to the present invention is not limited to the description of this embodiment, and only a part of this embodiment may be implemented.

[0061] For example, in the above, when the lean vehicle 1 turns, the surrounding environment detection device 11 is rotated around an axis along the width direction of the handlebar 2, so that the detection central axis 12 of the surrounding environment detection device 11 faces upward. However, the surrounding environment detection device 11 may be rotated around an axis that forms a predetermined angle with respect to the axis along the width direction of the handlebar 2, so that the detection central axis 12 of the surrounding environment detection device 11 faces upward. The above-mentioned predetermined angle may be, for example, an angle at which the direction of the detection central axis 12 of the surrounding environment detection device 11 is changed along the direction perpendicular to the road surface, or an angle at which the detection central axis 12 of the surrounding environment detection device 11 faces the traveling direction of the lean vehicle 1. Moreover, the surrounding environment detection device 11 may be rotated around an axis along the width direction of the handlebar 2, so that the detection central axis 12 of the surrounding environment detection device 11 faces upward, and then the direction of the detection central axis 12 of the surrounding environment detection device 11 may be changed in a direction parallel to the road surface.

[0062] Also, for example, when the lean vehicle 1 turns, the control device 30 may change the attitude of the surrounding environment detection device 11 so that the detection central axis 12 of the surrounding environment detection device 11 faces upward, and the detection range of the surrounding environment detection device 11 may be changed by software. [Explanation of symbols]

[0063] 1 lean vehicle, 2 steering wheel, 3 front wheel, 4 suspension, 5 control device, 10 surrounding environment acquisition system, 11 surrounding environment detection device, 12 detection central axis, 13 rotating shaft, 20 drive mechanism, 21 gear, 22 gear, 23 motor, 24 drive shaft, 30 control device, 31 information acquisition unit, 32 lift angle determination unit, 33 operation control unit, 40 driving condition detection device, θ lift angle.

Claims

1. A control device (30) for controlling the attitude of an ambient environment detection device (11) for detecting an ambient environment of a lean vehicle (1) in order to assist a rider of the lean vehicle (1), comprising: The surrounding environment detection device (11), when mounted on the lean vehicle (1), detects at least the surrounding environment in front of the lean vehicle (1) and moves together with a steering wheel (2) of the lean vehicle (1); The control device (30) is configured to operate a drive mechanism (20) that changes the attitude of the surrounding environment detection device (11) when the lean vehicle (1) tilts in the turning direction while turning, and to change the attitude of the surrounding environment detection device (11) so that the detection central axis (12) of the surrounding environment detection device (11) faces upward compared to when the drive mechanism (20) is not operated. A control device (30).

2. When the lean vehicle (1) turns, the angle at which the detection central axis (12) of the surrounding environment detection device (11) is oriented upward compared to when the drive mechanism (20) is not operated is defined as an upward angle (θ). The lift angle (θ) is determined according to the turning angle of the lean vehicle (1) during turning. The control device (30) of claim 1.

3. The lean angle of the lean vehicle (1) is used as a parameter for determining the turning angle, and the raising angle (θ) is determined based on the lean angle. The control device (30) of claim 2.

4. The yaw rate of the lean vehicle (1) is used as a parameter for determining the turning angle, and the raising angle (θ) is determined based on the yaw rate. A control device (30) according to claim 2 or claim 3.

5. The lateral acceleration of the lean vehicle (1) is used as a parameter for determining the turning angle, and the raising angle (θ) is determined based on the lateral acceleration. A control device (30) according to any one of claims 2 to 4.

6. The steering angle of the lean vehicle (1) is further used as a parameter for determining the turning angle, and the lift angle (θ) is determined based on these parameters. A control device (30) according to any one of claims 3 to 5.

7. The surrounding environment detection device (11) is an imaging device, The elevation angle (θ) is determined from the imaging data of the imaging device. A control device (30) according to any one of claims 2 to 6.

8. The tilt angle (θ) is determined based on the pitching direction attitude information of the lean vehicle (1) during turning and the turning degree. A control device (30) according to any one of claims 2 to 7.

9. The pitching angle of the lean vehicle (1) is used as the attitude information in the pitching direction. The control device (30) of claim 8.

10. The amount of expansion and contraction of the suspension (4) on the front wheel (3) side of the lean vehicle (1) is used as the attitude information in the pitching direction. A control device (30) according to claim 8 or claim 9.

11. As the posture information in the pitching direction, the acceleration / deceleration in the front-rear direction of the lean vehicle (1) is used. A control device (30) according to any one of claims 8 to 10.

12. an ambient environment detection device (11) that detects at least an ambient environment in front of the lean vehicle (1) when mounted on the lean vehicle (1) and moves together with a steering wheel (2) of the lean vehicle (1); A drive mechanism (20) for changing the attitude of the surrounding environment detection device (11); A control device (30) according to any one of claims 1 to 11; An ambient environment acquisition system (10) comprising:

13. A lean vehicle (1) comprising an ambient environment acquisition system (10) according to claim 12.

14. A control method for controlling an attitude of an ambient environment detection device (11) for detecting an ambient environment of a lean vehicle (1) in order to assist a rider of the lean vehicle (1), comprising: The surrounding environment detection device (11), when mounted on the lean vehicle (1), detects at least the surrounding environment in front of the lean vehicle (1) and moves together with a steering wheel (2) of the lean vehicle (1); The control method includes an attitude control step (S30) in which a control device (30) operates a drive mechanism (20) that changes the attitude of the surrounding environment detection device (11) when the lean vehicle (1) tilts in the turning direction while turning, and changes the attitude of the surrounding environment detection device (11) so that the detection center axis (12) of the surrounding environment detection device (11) is upward compared to when the drive mechanism (20) is not operated.

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