Control Device and Control Method of Rider Support System

Abstract

The present invention provides a controller and a control method that can more suitably assist a rider in driving a motorcycle. A controller for a rider support system has: an acquisition unit that acquires surrounding environment information for a motorcycle (100) while the motorcycle (100) travels; and an execution unit that causes the motorcycle (100) to execute an adaptive cruise control operation based on the surrounding environment information. The execution unit causes the motorcycle (100) to execute a first operation as the adaptive cruise control operation when a group travel mode is not in effect, and causes the motorcycle (100) to execute a second operation as the adaptive cruise control operation when the group travel mode is in effect. The execution unit causes a notification device to provide different notifications to the rider in the first operation and the second operation, respectively.

Description

Technical Field

[0001] The present invention relates to a control device for a rider assistance system that assists in the operation of a motorcycle rider, and a control method for a rider assistance system that assists in the operation of a motorcycle rider.

Background Art

[0002] As a conventional rider assistance system, there is known one in which a control device acquires surrounding environment information of a motorcycle and executes an adaptive cruise control operation on the motorcycle based on the surrounding environment information (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a motorcycle travels in a group with other motorcycles, due to the fact that the vehicle body size of the motorcycle is significantly smaller compared to other vehicles (e.g., passenger cars, trucks, etc.), a special adaptive cruise control operation is required. However, if such a special adaptive cruise control operation is unexpectedly executed for the rider, the assistiveness of the rider's operation may be reduced.

[0005] The present invention has been made against the background of the above problems, and aims to obtain a control device capable of improving the assistiveness of the rider's operation. Also, it aims to obtain a control method capable of improving the assistiveness of the rider's operation.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device for a rider support system that supports the operation of a rider of a motorcycle. The control device includes an acquisition unit that acquires ambient environment information of the motorcycle during travel of the motorcycle, and an execution unit that causes the motorcycle to execute an adaptive cruise control operation based on the ambient environment information acquired by the acquisition unit. When a group travel mode, which is a mode in which the motorcycle travels in a group with at least one other motorcycle, is not valid, the execution unit causes the motorcycle to execute a first operation as the adaptive cruise control operation. When the group travel mode is valid, the execution unit causes the motorcycle to execute a second operation different from the first operation as the adaptive cruise control operation. The execution unit causes the notification to the rider executed by the notification device to differ between the first operation and the second operation.

[0007] The control method according to the present invention is a control method for a rider support system that supports the operation of a rider of a motorcycle. The control method includes an acquisition step in which an acquisition unit of a control device acquires ambient environment information of the motorcycle during travel of the motorcycle, and an execution step in which an execution unit of the control device causes the motorcycle to execute an adaptive cruise control operation based on the ambient environment information acquired in the acquisition step. In the execution step, when a group travel mode, which is a mode in which the motorcycle travels in a group with at least one other motorcycle, is not valid, the execution unit causes the motorcycle to execute a first operation as the adaptive cruise control operation. When the group travel mode is valid, the execution unit causes the motorcycle to execute a second operation different from the first operation as the adaptive cruise control operation. In the execution step, the execution unit causes the notification to the rider executed by the notification device to differ between the first operation and the second operation.

Effect of the Invention

[0008] In the control device and control method according to the present invention, the execution unit performs a first operation which is an adaptive cruise control operation executed when the group driving mode is not valid, and a second operation which is an adaptive cruise control operation executed when the group driving mode is valid, and the notification to the rider executed in the notification device is made different. Therefore, the rider can recognize the execution of the special adaptive cruise control operation, and the driving support for the rider is improved.

Brief Description of the Drawings

[0009]

Figure 1

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Embodiments for Carrying Out the Invention

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

[0011] Note that the configurations, operations, etc. described below are 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, the case where the motorcycle is a two-wheeled vehicle is described, but the motorcycle may be a three-wheeled vehicle. Motorcycles include those with an engine as a power source, those with an electric motor as a power source, etc. Motorcycles include, for example, motorcycles, scooters, electric scooters, etc.

[0013] Also, in the following, the same or similar explanations are appropriately simplified or omitted. Also, in each figure, the same or similar parts are either given the same reference numerals or the assignment of reference numerals is omitted. Also, the illustration of fine structures is appropriately simplified or omitted.

[0014] Embodiment 1. Hereinafter, the rider support system according to Embodiment 1 will be described.

[0015] <Configuration of Rider Assistance System> The configuration of the rider assistance system according to Embodiment 1 will be described. FIG. 1 is a diagram showing the mounted state of the rider assistance system according to Embodiment 1 of the present invention on a motorcycle. FIG. 2 is a diagram showing the system configuration of the rider assistance system according to Embodiment 1 of the present invention. FIGS. 3 to 10 are diagrams for explaining the configuration of the rider assistance system according to Embodiment 1 of the present invention.

[0016] As shown in FIGS. 1 and 2, the rider assistance system 1 is mounted on the motorcycle 100. The rider assistance system 1 includes, for example, a surrounding environment sensor 11, a vehicle behavior sensor 12, a setting input device 13, a control device (ECU) 20, a braking device 30, a driving device 40, and a notification device 50.

[0017] In the rider assistance system 1, the control device 20 uses the outputs of the surrounding environment sensor 11 and the vehicle behavior sensor 12 and the output of the setting input device 13 to execute a rider assistance operation for assisting the driving of the rider of the motorcycle 100. The control device 20 outputs commands to various devices (for example, the braking device 30, the driving device 40, the notification device 50, etc.) to execute the rider assistance operation. The control device 20 receives the outputs of various sensors (not shown) for detecting other information (for example, information on the operation state of the braking device 30 by the rider, information on the operation state of the driving device 40 by the rider, etc.) as necessary. Each part of the rider assistance system 1 may be exclusively used for the rider assistance system 1, or may be shared with other systems.

[0018] The surrounding environment sensor 11 is directed at least forward of the motorcycle 100. The surrounding environment sensor 11 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0019] The vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor (IMU), or the like. The vehicle speed sensor detects the speed of the motorcycle 100. The vehicle speed sensor may detect another physical quantity that can be substantially converted into the speed of the motorcycle 100. The inertial sensor detects the acceleration in three axes (front-rear direction, vehicle width direction, vehicle height direction) and the angular velocity in three axes (roll, pitch, yaw) occurring in the motorcycle 100. The inertial sensor may detect another physical quantity that can be substantially converted into the acceleration in three axes and the angular velocity in three axes occurring in the motorcycle 100. Further, the inertial sensor may detect only a part of the acceleration in three axes and the angular velocity in three axes.

[0020] The setting input device 13 receives input of various settings by the rider. For example, the rider can switch the enable and disable of various rider support operations using the setting input device 13. Also, for example, the rider can set various modes or various thresholds (e.g., upper limit value, lower limit value, etc.) used in various rider support operations using the setting input device 13. The setting input device 13 may receive an operation by the rider's body (e.g., hands, feet, etc.), or may receive the voice uttered by the rider. Further, the setting input device 13 may be provided on the motorcycle 100, or may be provided on accessories (e.g., helmet, gloves, etc.) attached to the motorcycle 100.

[0021] The control device 20 includes at least an acquisition unit 21 and an execution unit 22. All or each part of the control device 20 may be provided together in one housing, or may be provided separately in a plurality of housings. Also, all or each part of the control device 20 may be configured by, for example, a microcomputer, a microprocessor unit, etc., or may be configured by something that can be updated such as firmware, or may be a program module executed by a command from a CPU or the like.

[0022] During the running of the motorcycle 100, the acquisition unit 21 acquires the ambient environment information of the motorcycle 100 based on the output of the ambient environment sensor 11. The ambient environment information includes the positional relationship information between the motorcycle 100 and the vehicles running around the motorcycle 100. The positional relationship information is, for example, information such as relative position, relative distance, relative speed, relative acceleration, relative jerk, passing time difference, etc. The positional relationship information may be information on other physical quantities that can be substantially converted into them. Note that the acquisition unit 21 acquires at least the positional relationship information between the motorcycle 100 and the vehicle running in front of the motorcycle 100. When the adaptive cruise control operation described later reflects the positional relationship information between the motorcycle 100 and the vehicle running on the side or rear of the motorcycle 100 in the automatic acceleration / deceleration operation, the acquisition unit 21 acquires the positional relationship information of that vehicle as necessary. In such a case, the ambient environment sensor 11 is directed not only in front of the motorcycle 100 but also to the side or rear of the motorcycle 100.

[0023] As a rider assistance operation, the execution unit 22 causes the motorcycle 100 to execute an adaptive cruise control operation based on the ambient environment information acquired by the acquisition unit 21. The execution unit 22 executes position relationship adjustment control between the motorcycle 100 and the target vehicle for speed control. In the position relationship adjustment control, the execution unit 22 causes the motorcycle 100 to execute an automatic acceleration / deceleration operation so that the inter-vehicle distance or passing time difference between the motorcycle 100 and the target vehicle for speed control approaches a reference value. When the target vehicle for speed control is not specified, the execution unit 22 causes the motorcycle 100 to execute an automatic acceleration / deceleration operation so that the speed of the motorcycle 100 becomes the reference value. The reference value is changed according to the setting input by the rider in the setting input device 13.

[0024] The execution unit 22 outputs a command to the braking device 30 or the driving device 40 to cause the motorcycle 100 to perform an automatic acceleration / deceleration operation. The braking device 30 brakes the motorcycle 100. The driving device 40 drives the motorcycle 100 as a power source of the motorcycle 100. The braking device 30 may be controlled to generate or increase a deceleration, or may be controlled to generate or increase an acceleration. The driving device 40 may be controlled to generate or increase an acceleration, or may be controlled to generate or increase a deceleration.

[0025] When executing the adaptive cruise control operation, the execution unit 22 causes the notification device 50 to notify the rider as necessary. The notification device 50 may notify the rider by display (i.e., perception using the visual organ as a sensory organ), or may notify the rider by sound (i.e., perception using the auditory organ as a sensory organ), or may notify the rider by vibration (i.e., perception using the tactile organ as a sensory organ), or may be a combination thereof. For example, the notification device 50 is a display, a lamp, a speaker, a vibrator, etc. The notification device 50 may be provided on the motorcycle 100, or may be provided on accessories (e.g., helmets, gloves, etc.) attached to the motorcycle 100.

[0026] During the running of the motorcycle 100, the execution unit 22 determines whether the group running mode is valid. As shown in FIGS. 3 and 4, the group running mode is a mode in which the motorcycle 100 runs in a group, that is, in a group, with a plurality of other motorcycles 200.

[0027] For example, the group driving mode is automatically switched between valid and invalid by the execution unit 22 based on the surrounding environment information acquired by the acquisition unit 21. The execution unit 22 determines whether the group driving mode is valid based on the switching information. The execution unit 22 determines, based on the surrounding environment information acquired by the acquisition unit 21, whether the motorcycle 100 and other motorcycles 200 are traveling in a specific mode (for example, as shown in FIG. 3, a mode in which two vehicle columns are formed such that the motorcycle 100 and a plurality of other motorcycles 200 are arranged in a zigzag pattern, or as shown in FIG. 4, a mode in which two vehicle columns are formed such that the motorcycle 100 and a plurality of other motorcycles 200 are arranged side by side) for a time exceeding a reference time or a travel distance exceeding a reference travel distance. If the determination is affirmative, the group driving mode is automatically activated. The execution unit 22 may identify other motorcycles 200 located within the travel lane DL in which the motorcycle 100 travels and use only the identified other motorcycles 200 as the object of the determination. Alternatively, without using the information on the boundary of the travel lane DL, the execution unit 22 may identify other motorcycles 200 that continue to be located around the motorcycle 100 for a time exceeding a reference time or a travel distance exceeding a reference travel distance and use the identified other motorcycles 200 as the object of the determination.

[0028] For example, the group driving mode is switched between valid and invalid by a setting input by the rider. The execution unit 22 determines whether the group driving mode is valid based on the output of the setting input device 13 acquired by the acquisition unit 21. Note that the execution unit 22 may automatically propose activation and / or deactivation of the group driving mode based on the surrounding environment information acquired by the acquisition unit 21, and the proposal may be finalized by a setting input of approval by the rider.

[0029] When the group driving mode is not valid, the execution unit 22 causes the motorcycle 100 to execute a first operation as an adaptive cruise control operation. For example, in the examples shown in FIGS. 3 and 4, assuming that the motorcycle 100 is traveling in the right driving lane of the driving lane DL, the execution unit 22 executes position relationship adjustment control of the motorcycle 100 with respect to one vehicle 300 traveling in front of the motorcycle 100. That is, in the first operation, the target vehicle for speed control is one existing vehicle 300.

[0030] When the group driving mode is valid, the execution unit 22 causes the motorcycle 100 to execute a second operation different from the first operation as an adaptive cruise control operation.

[0031] As an example, in the examples shown in FIGS. 3 and 4, the execution unit 22 executes position relationship adjustment control of the motorcycle 100 with respect to one other motorcycle 200 selected from among a plurality of other motorcycles 200 preceding the motorcycle 100. That is, in the second operation, the target vehicle for speed control is one existing other motorcycle 200. It is preferable that the plurality of other motorcycles 200 to be selected are only the other motorcycles 200 traveling in a group with the motorcycle 100. Whether the other motorcycle 200 is a vehicle traveling in a group with the motorcycle 100 may be determined based on information registered in advance by the rider (for example, information on the traveling position of the motorcycle 100 in the group, identification information of other motorcycles 200 belonging to the group, etc.), or may be determined based on information on the passage of time of the position relationship with respect to the motorcycle 100.

[0032] Specifically, when the group driving mode is valid, the acquisition unit 21 acquires, as surrounding environment information, position relationship information between the motorcycle 100 and each of the other motorcycles 200 that drive in a group with the motorcycle 100. The execution unit 22 selects the nearest other motorcycle 200 from among the plurality of other motorcycles 200 for which the position relationship information has been acquired by the acquisition unit 21, and determines the target value of the output of the braking device 30 or the driving device 40 so that the position relationship between the motorcycle 100 and the selected other motorcycle 200 is optimized. The selected other motorcycle 200 may be the other motorcycle 200 with the shortest straight-line distance to the motorcycle 100, or may be the other motorcycle 200 with the shortest distance in the front-rear direction of the motorcycle 100 to the motorcycle 100. Further, the execution unit 22 may select the nearest other motorcycle 200 from among the plurality of other motorcycles 200 belonging to the first vehicle row L1 to which the motorcycle 100 belongs, or may select the other motorcycle 200 that is not the nearest (for example, the second nearest other motorcycle 200, etc.) from among the plurality of other motorcycles 200 belonging to the first vehicle row L1 to which the motorcycle 100 belongs. Further, as shown in FIG. 3, in a mode in which two vehicle rows are formed such that the motorcycle 100 and the plurality of other motorcycles 200 are arranged in a zigzag manner, the execution unit 22 is in a situation where the first vehicle row L1 to which the motorcycle 100 belongs and the second vehicle row L2 to which the motorcycle 100 does not belong approach each other (for example, a situation where the group makes a turning drive, etc.), and selects the nearest other motorcycle 200 from among the plurality of other motorcycles 200 belonging to the second vehicle row L2 to which the motorcycle 100 does not belong, or may select the other motorcycle 200 that is not the nearest (for example, the second nearest other motorcycle 200, etc.) from among the plurality of other motorcycles 200 belonging to the second vehicle row L2 to which the motorcycle 100 does not belong.

[0033] As another example, in the example shown in FIGS. 3 and 4, the execution unit 22 executes, at least temporarily, position relationship adjustment control for one virtual moving object symbolizing a plurality of other motor cycles 200 of the motor cycle 100. That is, in the second operation, the target vehicle for speed control is one virtual moving object, that is, a plurality of other motor cycles 200. It is preferable that the plurality of other motor cycles 200 are only the other motor cycles 200 traveling in a group with the motor cycle 100. Whether the other motor cycles 200 are vehicles traveling in a group with the motor cycle 100 may be determined based on information registered in advance by the rider (for example, information on the traveling position of the motor cycle 100 in the group, identification information of other motor cycles 200 belonging to the group, etc.), or may be determined based on information on the passage of time of the positional relationship with respect to the motor cycle 100.

[0034] Specifically, when the group traveling mode is valid, the acquisition unit 21 acquires, as ambient environment information, position relationship information between the motor cycle 100 and each of the other motor cycles 200 traveling in a group with the motor cycle 100. Then, the execution unit 22 determines a target value for the position relationship adjustment control based on the plurality of position relationship information acquired by the acquisition unit 21 for each of the other motor cycles 200. For simplification of the processing in the execution unit 22, it is preferable that the acquisition unit 21 acquires the position relationship information between the motor cycle 100 and the other motor cycles 200 in the front-rear direction of the motor cycle 100 and the position relationship information between the motor cycle 100 and the other motor cycles 200 in the left-right direction of the motor cycle 100.

[0035] The execution unit 22 derives virtual position relationship information, which is the position relationship information between the motorcycle 100 and the virtual moving body, based on the plurality of position relationship information obtained for each of the other motorcycles 200 by the acquisition unit 21, and determines a target value for position relationship adjustment control based on the virtual position relationship information. The execution unit 22 determines the weight of each of the plurality of other motorcycles 200 for which the position relationship information is acquired by the acquisition unit 21, substitutes the weight into the following mathematical formula 1 to derive the virtual position relationship information, and determines the target value of the output of the braking device 30 or the driving device 40 so that the position relationship between the motorcycle 100 and the virtual moving body expressed as the virtual position relationship information is optimized.

[0036]

Number

[0037] In Mathematical Formula 1, PV means virtual position relationship information, P1 means the position relationship information of another motorcycle 200 that precedes closest to the motorcycle 100 in the first vehicle row L1, k1 means the weight of the other motorcycle 200, P2 means the position relationship information of another motorcycle 200 that precedes closest to the motorcycle 100 in the second vehicle row L2, and k2 means the weight of the other motorcycle 200. The sum of the weights k1 and k2 is 1. The weights k1 and k2 are determined as numerical values greater than 0 and less than 1. The weights k1 and k2 may be 0 or 1 as required. In such a case, one existing other motorcycle 200 becomes the target vehicle for speed control. The execution unit 22 uses, as the position relationship information P1 and P2, the position relationship information between the motorcycle 100 and another motorcycle 200 in the front-rear direction of the motorcycle 100, and uses the position relationship information between the motorcycle 100 and another motorcycle 200 in the left-right direction of the motorcycle 100 when determining the weights k1 and k2. Note that the weights k1 and k2 may be fixed values. Also, the weights k1 and k2 may be appropriately set by the rider.

[0038] Alternatively, based on a plurality of pieces of positional relationship information acquired by the acquisition unit 21 for each of the other motor cycles 200, the execution unit 22 determines, for each of the other motor cycles 200, an individual target value that is a target value of individual positional relationship adjustment control for the other motor cycle 200, and determines a target value of the positional relationship adjustment control based on the individual target values determined for each of the other motor cycles 200. The execution unit 22 determines, for each of the other motor cycles 200, an individual target value of the output of the braking device 30 or the driving device 40 such that the positional relationship between the motor cycle 100 expressed as the positional relationship information and the other motor cycle 200 is optimized. The execution unit 22 determines the weight of each of the plurality of other motor cycles 200 for which the positional relationship information is acquired by the acquisition unit 21, substitutes the weight into the following mathematical formula 2, and determines the target value of the output of the actual braking device 30 or driving device 40.

[0039]

Number

[0040] In Equation 2, TV represents the target value of the actual position relationship adjustment control, T1 represents the individual target value for another motor cycle 200 that precedes closest to the motor cycle 100 in the first vehicle row L1, k1 represents the weight of the other motor cycle 200, T2 represents the individual target value for another motor cycle 200 that precedes closest to the motor cycle 100 in the second vehicle row L2, and k2 represents the weight of the other motor cycle 200. The sum of the weights k1 and k2 is 1. The weights k1 and k2 are determined as numerical values greater than 0 and less than 1. The weights k1 and k2 may be 0 or 1 as required. In such a case, one existing other motor cycle 200 becomes the target vehicle for speed control. The execution unit 22 uses the position relationship information between the motor cycle 100 and the other motor cycle 200 in the front-rear direction of the motor cycle 100 in determining the individual target values T1 and T2, and may use the position relationship information between the motor cycle 100 and the other motor cycle 200 in the left-right direction of the motor cycle 100 in determining the weights k1 and k2. Note that the weights k1 and k2 may be fixed values. Also, the weights k1 and k2 may be appropriately set by the rider.

[0041] The execution unit 22 makes the weight k2 of another motor cycle 200 that precedes closest to the motor cycle 100 in the second vehicle row L2 lower than the weight k1 of another motor cycle 200 that precedes closest to the motor cycle 100 in the first vehicle row L1. Also, when the position relationship information between the motor cycle 100 and another motor cycle 200 that precedes closest to the motor cycle 100 in the second vehicle row L2 in the left-right direction of the motor cycle 100 is information indicating that the proximity is high or rapidly increasing, the execution unit 22 increases the weight k2 of the other motor cycle 200.

[0042] The virtual moving body may symbolize other motorcycles 200 that precede closest to the motorcycle 100 in the first vehicle row L1, other motorcycles 200 that precede closest to the motorcycle 100 in the second vehicle row L2, other motorcycles 200 that precede second closest to the motorcycle 100 in the first vehicle row L1, and / or other motorcycles 200 that precede second closest to the motorcycle 100 in the second vehicle row L2. The execution unit 22 makes the weight of other motorcycles 200 that precede second closest to the motorcycle 100 in the second vehicle row L2 lower than the weight of other motorcycles 200 that precede second closest to the motorcycle 100 in the first vehicle row L1. The execution unit 22 makes the weight of other motorcycles 200 that precede second closest to the motorcycle 100 in the first vehicle row L1 lower than the weight k1 of other motorcycles 200 that precede closest to the motorcycle 100 in the first vehicle row L1. The execution unit 22 makes the weight of other motorcycles 200 that precede second closest to the motorcycle 100 in the second vehicle row L2 lower than the weight k2 of other motorcycles 200 that precede closest to the motorcycle 100 in the second vehicle row L2.

[0043] Here, the execution unit 22 makes the notification to the rider executed by the notification device 50 different between the first operation and the second operation. In the following, the case where the notification device 50 executes notification to the rider by display (that is, perception in which the visual organ is used as the sensory organ) will be described, but even if it is not such a case, the same notification is realized.

[0044] In the first operation, the execution unit 22 causes the notification device 50 to display a mark LV indicating invalidation of the group running mode in addition to a mark LA indicating the type of the rider support operation. The mark LA may be a mark indicating the adaptive cruise control operation itself as shown in FIG. 5, or may be a mark indicating the speed control mode (for example, the passing time difference mode, the inter-vehicle distance mode, etc.) set in the adaptive cruise control operation as shown in FIG. 6. The mark LV may be displayed adjacent to the mark LA. The mark LV is an illustration imitating one vehicle other than the motorcycle (for example, a passenger car, etc.). The illustration may imitate the state of the vehicle seen from the rear, or may imitate the state of the vehicle seen from the front, side, or above. The mark LV may be a character or symbol indicating invalidation of the group running mode or a vehicle other than the motorcycle. The execution unit 22 displays the mark LV when the target vehicle for speed control in the adaptive cruise control operation is specified, and does not display the mark LV, or changes the aspect (for example, color, density, line type, etc.) and displays it when the target vehicle for speed control in the adaptive cruise control operation is not specified.

[0045] For example, as shown in FIGS. 7 to 10, in the second operation, the execution unit 22 executes an operation of causing the notification device 50 to display a mark LG indicating the activation of the group running mode instead of the mark LV. The mark LG may be displayed adjacent to the mark LA. As shown in FIGS. 7 and 8, the mark LG may represent one motor cycle, or as shown in FIGS. 9 and 10, the mark LG may represent a plurality of motor cycles. The mark LG is an illustration imitating a motor cycle. The illustration may imitate the state of the motor cycle viewed from the side, or may imitate the state of the motor cycle viewed from the rear, or may imitate the state of the motor cycle viewed from the front or above. Further, the mark LG may be an illustration including a rider, or may be an illustration not including a rider. The mark LG may be a character or symbol indicating the activation of the group running mode, the group running mode itself, or a motor cycle. In the adaptive cruise control operation in a state where the group running mode is activated, the execution unit 22 causes the notification device 50 to display the mark LG regardless of the type of the target vehicle for actual speed control. Further, in the adaptive cruise control operation in a state where the group running mode is activated, the execution unit 22 causes the notification device 50 to display the mark LG regardless of the actual presence or absence of another motor cycle 200 that precedes the motor cycle 100 and runs in a group with the motor cycle 100. When the target vehicle for speed control in the adaptive cruise control operation is specified, the execution unit 22 displays the mark LG, and when the target vehicle for speed control in the adaptive cruise control operation is not specified, the execution unit 22 does not display the mark LG, or displays it with a changed aspect (for example, color, density, line type, etc.). Note that the execution unit 22 may cause the notification device 50 to execute an operation of displaying the mark LG in addition to the mark LV.

[0046] <Operation of Rider Support System> The operation of the rider support system according to Embodiment 1 will be described. FIG. 11 is a diagram showing the operation flow of the control device of the rider support system according to Embodiment 1 of the present invention.

[0047] During the running of the motorcycle 100, the control device 20 executes the operation flow shown in FIG. 11.

[0048] (Acquisition step) In step S101, the acquisition unit 21 acquires the surrounding environment information of the motorcycle 100 during the running of the motorcycle 100. Further, the acquisition unit 21 acquires various information as necessary.

[0049] (Execution step) In step S102, the execution unit 22 causes the motorcycle 100 to execute an adaptive cruise control operation based on the surrounding environment information acquired by the acquisition unit 21. When the group running mode is not valid, the execution unit 22 causes the motorcycle 100 to execute a first operation as an adaptive cruise control operation, and when the group running mode is valid, the execution unit 22 causes the motorcycle 100 to execute a second operation different from the first operation as an adaptive cruise control operation. The execution unit 22 makes the notification to the rider executed by the notification device 50 different between the first operation and the second operation.

[0050] <Effect of the rider support system> The effect of the rider support system according to Embodiment 1 will be described. In the control device 20, the execution unit 22 makes the notification to the rider executed by the notification device 50 different between the first operation, which is an adaptive cruise control operation executed when the group running mode is not valid, and the second operation, which is an adaptive cruise control operation executed when the group running mode is valid. Therefore, the rider can recognize the execution of a special adaptive cruise control operation, and the supportability of the rider's driving is improved.

[0051] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to display a mark LG indicating the activation of the group driving mode. By being configured in this way, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving support for the rider is improved. In particular, the mark LG preferably represents one motorcycle. In such a case, it is possible to improve the visibility of the rider while meeting the requirement for miniaturization of the notification device 50 in the motorcycle 100. Further, in particular, the mark LG preferably represents two motorcycles. In such a case, it is possible for the rider to intuitively recognize the activation of the group driving mode.

[0052] Preferably, in the second operation, the execution unit 22 varies the display of the mark LG indicating the activation of the group driving mode by the notification device 50 according to the change in the control parameter of the automatic acceleration / deceleration operation to be executed on the motorcycle 100. For example, in the adaptive cruise control operation, the target value of the braking device 30 or the driving device 40 output from the execution unit 22 changes according to whether the target vehicle for speed control is specified or not. Therefore, the display of the mark LG will be linked to the change in the control parameter of the automatic acceleration / deceleration operation. By being configured in this way, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving support for the rider is improved.

[0053] Embodiment 2. Hereinafter, the rider support system according to Embodiment 2 will be described. The rider support system according to Embodiment 2 differs from the rider support system according to Embodiment 1 in that the notification to the rider that the execution unit 22 causes the notification device 50 to execute in the second operation is different. Descriptions of overlapping or similar contents are omitted.

[0054] <Configuration of Rider Support System> The configuration of the rider support system according to Embodiment 2 will be described. FIG. 12 is a diagram for explaining the configuration of the rider assistance system according to Embodiment 2 of the present invention.

[0055] As shown in FIG. 12, in the second operation, the execution unit 22 causes the notification device 50 to display at least one of a leading vehicle mark LF, which is a mark representing one leading vehicle in the group, and a following vehicle mark LB, which is a mark representing one following vehicle in the group, in addition to a mark LA representing the type of the rider assistance operation. The leading vehicle may be the leading vehicle in the vehicle formation of the group or the leading vehicle of the entire group. Regardless of the actual number of other motorcycles 200 constituting the group, the execution unit 22 may set the numbers of the leading vehicle mark LF and the following vehicle mark LB to fixed values, or may change them according to the actual number of other motorcycles 200 constituting the group. The mark LA is preferably a mark indicating the adaptive cruise control operation itself. The leading vehicle mark LF and the following vehicle mark LB are preferably displayed adjacent to the mark LA. Each of the leading vehicle mark LF and the following vehicle mark LB preferably represents one motorcycle. Each of the leading vehicle mark LF and the following vehicle mark LB is an illustration imitating a motorcycle. The illustration may imitate the state of the motorcycle seen from above, or may imitate the state of the motorcycle seen from the front, rear, or side. Also, each of the leading vehicle mark LF and the following vehicle mark LB may be an illustration without a rider or an illustration with a rider. The leading vehicle mark LF may be a character or symbol representing the leading vehicle, and the following vehicle mark LB may be a character or symbol representing the following vehicle. In the adaptive cruise control operation in a state where the group driving mode is enabled, the execution unit 22 causes the notification device 50 to display the leading vehicle mark LF and the following vehicle mark LB regardless of the type of the target vehicle for actual speed control. The execution unit 22 may display the leading vehicle mark LF and the following vehicle mark LB in a fixed positional relationship regardless of the positional relationship of each vehicle on the actual road, or may display them in a positional relationship corresponding to the positional relationship of each vehicle on the actual road. The execution unit 22 preferably displays the leading vehicle mark LF and the following vehicle mark LB side by side in the vertical direction.Also, as shown in FIG. 3, in a situation where the group is traveling in a manner such that two vehicle columns are formed with the motorcycle 100 and a plurality of other motorcycles 200 arranged in a zigzag pattern, or, as shown in FIG. 4, in a situation where the group is traveling in a manner such that two vehicle columns are formed with the motorcycle 100 and a plurality of other motorcycles 200 arranged side by side, the two leading vehicle badges LF and the two trailing vehicle badges LB may be displayed with a vertical shift, or may be displayed side by side. The execution unit 22 may display the trailing vehicle badge LB separately as a badge representing an intermediate vehicle between the leading vehicle and the trailing vehicle in the group and a badge representing the trailing vehicle in the group. When the target vehicle for speed control in the adaptive cruise control operation is specified, the execution unit 22 displays the leading vehicle badge LF and the trailing vehicle badge LB, and when the target vehicle for speed control in the adaptive cruise control operation is not specified, the execution unit 22 does not display the leading vehicle badge LF and the trailing vehicle badge LB, or displays them with a change in mode (for example, color, density, line type, etc.). Note that the execution unit 22 may cause the notification device 50 to execute an operation of displaying the leading vehicle badge LF and the trailing vehicle badge LB in addition to the badge LV.

[0056] When the motorcycle 100 is the leading vehicle in the group, the execution unit 22 causes the notification device 50 to compare the leading vehicle emblem LF with the following vehicle emblem LB and display it in an emphasized manner. When the motorcycle 100 is a following vehicle in the group, the execution unit 22 causes the notification device 50 to compare the following vehicle emblem LB with the leading vehicle emblem LF and display it in an emphasized manner. When the execution unit 22 displays two leading vehicle emblems LF and two following vehicle emblems LB respectively, it emphasizes and displays the leading vehicle emblem LF or the following vehicle emblem LB on the side corresponding to the first vehicle row L1 to which the motorcycle 100 belongs. The execution unit 22 may emphasize the leading vehicle emblem LF or the following vehicle emblem LB by enlarging the display, or may emphasize the leading vehicle emblem LF or the following vehicle emblem LB by brightening the display color, or may emphasize the leading vehicle emblem LF or the following vehicle emblem LB by darkening the display, or may emphasize the leading vehicle emblem LF or the following vehicle emblem LB by attaching characters or symbols. When it is impossible to determine whether the motorcycle 100 is the leading vehicle or the following vehicle, the execution unit 22 may cause the notification device 50 to display neither the leading vehicle emblem LF nor the following vehicle emblem LB without emphasizing either of them, or may not cause the notification device 50 to display the leading vehicle emblem LF and the following vehicle emblem LB. Further, when the motorcycle 100 is the leading vehicle, the execution unit 22 may not cause the notification device 50 to display the following vehicle emblem LB.

[0057] <Effect of Rider Support System> The effect of the rider support system according to Embodiment 2 will be described. In the control device 20, the execution unit 22 causes the notification device 50 to perform different notifications to the rider in the first operation, which is an adaptive cruise control operation executed when the group driving mode is not valid, and the second operation, which is an adaptive cruise control operation executed when the group driving mode is valid. Therefore, the rider can recognize the execution of the special adaptive cruise control operation, and the supportability of the rider's driving is improved.

[0058] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to display at least one of a leading vehicle mark LF, which is a mark representing one leading vehicle in the group, and a following vehicle mark LB, which is a mark representing one following vehicle in the group. By being configured in this way, it becomes possible for the rider to intuitively recognize the activation of the group driving mode. In particular, when the motorcycle 100 is the leading vehicle in the group, the execution unit 22 may cause the notification device 50 to display the leading vehicle mark LF in an emphasized manner compared to the following vehicle mark LB, and when the motorcycle 100 is the following vehicle in the group, the execution unit 22 may cause the notification device 50 to display the following vehicle mark LB in an emphasized manner compared to the leading vehicle mark LF. By being configured in this way, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving assistiveness for the rider is improved.

[0059] Preferably, in the second operation, the execution unit 22 varies the display of at least one of the leading vehicle mark LF and the following vehicle mark LB by the notification device 50 according to a change in the control parameter of the automatic acceleration / deceleration operation to be executed on the motorcycle 100. For example, in the adaptive cruise control operation, the target value of the braking device 30 or the driving device 40 output from the execution unit 22 changes depending on whether the motorcycle 100 is the leading vehicle or the following vehicle. Therefore, the emphasis of the leading vehicle mark LF or the following vehicle mark LB will be linked to the change in the control parameter of the automatic acceleration / deceleration operation. By being configured in this way, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving assistiveness for the rider is improved.

[0060] Embodiment 3. The rider support system according to Embodiment 3 will be described below. Note that the rider support system according to Embodiment 3 differs from the rider support system according to Embodiment 1 in that the notification to the rider that the execution unit 22 causes the notification device 50 to execute in the second operation is different. Descriptions of overlapping or similar contents are omitted.

[0061] <Configuration of Rider Support System> The configuration of the rider support system according to Embodiment 3 will be described. FIGS. 13 and 14 are diagrams for explaining the configuration of the rider support system according to Embodiment 3 of the present invention.

[0062] As shown in FIG. 13, in the second operation, the execution unit 22 causes the notification device 50 to display, in addition to the mark LA indicating the type of the rider assistance operation, a right lane mark LR which is a mark indicating the right vehicle column in the group and a left lane mark LL which is a mark indicating the left vehicle column in the group. The mark LA may be a mark indicating the adaptive cruise control operation itself. The right lane mark LR and the left lane mark LL may be displayed adjacent to the mark LA. Each of the right lane mark LR and the left lane mark LL may represent one motorcycle. The right lane mark LR and the left lane mark LL are illustrations imitating a motorcycle. The illustration may imitate the state of the motorcycle seen from the side, or may imitate the state of the motorcycle seen from the front, rear, or above. Also, the right lane mark LR and the left lane mark LL may be illustrations including a rider, or may be illustrations not including a rider. The right lane mark LR may be a character or symbol indicating the right vehicle column in the group, and the left lane mark LL may be a character or symbol indicating the left vehicle column in the group. In the adaptive cruise control operation in a state where the group driving mode is enabled, the execution unit 22 causes the notification device 50 to display the right lane mark LR and the left lane mark LL regardless of the type of the target vehicle for actual speed control. The execution unit 22 may display the right lane mark LR and the left lane mark LL in a fixed positional relationship regardless of the positional relationship of each vehicle column on the actual road, or may display them in a positional relationship (for example, position, interval, etc.) corresponding to the positional relationship of each vehicle column on the actual road. When the target vehicle for speed control in the adaptive cruise control operation is specified, the execution unit 22 displays the right lane mark LR and the left lane mark LL, and when the target vehicle for speed control in the adaptive cruise control operation is not specified, the execution unit 22 does not display the right lane mark LR and the left lane mark LL, or displays them with a changed aspect (for example, color, density, line type, etc.). Note that the execution unit 22 may cause the notification device 50 to execute an operation of displaying the right lane mark LR and the left lane mark LL in addition to the mark LV.

[0063] When the motorcycle 100 belongs to the right vehicle row in the group, the execution unit 22 causes the notification device 50 to compare the right vehicle row mark LR with the left vehicle row mark LL and display it in an emphasized manner. When the motorcycle 100 belongs to the left vehicle row in the group, the execution unit 22 causes the notification device 50 to compare the left vehicle row mark LL with the right vehicle row mark LR and display it in an emphasized manner. The execution unit 22 may emphasize the right vehicle row mark LR or the left vehicle row mark LL by enlarging the display, may also emphasize the right vehicle row mark LR or the left vehicle row mark LL by brightening the display color, may also emphasize the right vehicle row mark LR or the left vehicle row mark LL by darkening the display, or may also emphasize the right vehicle row mark LR or the left vehicle row mark LL by attaching characters or symbols. When it cannot be determined whether the motorcycle 100 belongs to the right vehicle row or the left vehicle row, the execution unit 22 may cause the notification device 50 to display neither the right vehicle row mark LR nor the left vehicle row mark LL in an emphasized manner, or may not cause the notification device 50 to display the right vehicle row mark LR and the left vehicle row mark LL.

[0064] As shown in FIG. 14, the execution unit 22 may cause the notification device 50 to display, as a mark LA indicating the type of rider support operation, a mark indicating the speed control mode (for example, passing time difference mode, inter-vehicle distance mode, etc.) set in the adaptive cruise control operation, instead of the mark indicating the adaptive cruise control operation itself. The execution unit 22 causes the notification device 50 to emphasize and display, by comparing, a mark indicating the vehicle column to which another motorcycle 200 that precedes closest to the motorcycle 100 belongs, among the right vehicle column mark LR and the left vehicle column mark LL, with the other mark. The other motorcycle 200 may be the other motorcycle 200 having the shortest straight-line distance to the motorcycle 100, or may be the other motorcycle 200 having the shortest distance in the front-rear direction of the motorcycle 100 to the motorcycle 100. The execution unit 22 may emphasize the right vehicle column mark LR or the left vehicle column mark LL by enlarging the display, or may emphasize the right vehicle column mark LR or the left vehicle column mark LL by brightening the display color, or may emphasize the right vehicle column mark LR or the left vehicle column mark LL by darkening the display, or may emphasize the right vehicle column mark LR or the left vehicle column mark LL by attaching characters or symbols. The execution unit 22 may position the lowermost part of the unemphasized side mark among the right vehicle column mark LR and the left vehicle column mark LL above the lowermost part of the emphasized side mark by comparison. In particular, the execution unit 22 may position the lowermost part of the unemphasized side mark higher as the difference in the straight-line distance to the motorcycle 100 or the distance in the front-rear direction of the motorcycle 100 between another motorcycle 200 that belongs to the right vehicle column and precedes closest to the motorcycle 100 and another motorcycle 200 that belongs to the left vehicle column and precedes closest to the motorcycle 100 is larger. When it cannot be determined whether the motorcycle 100 belongs to the right vehicle column or the left vehicle column, the execution unit 22 may cause the notification device 50 to display neither the right vehicle column mark LR nor the left vehicle column mark LL emphasized, or may not cause the notification device 50 to display the right vehicle column mark LR and the left vehicle column mark LL.

[0065] <Effect of Rider Support System> The effects of the rider assistance system according to Embodiment 3 will be described. In the control device 20, the execution unit 22 causes the notification device 50 to perform different notifications to the rider for a first operation that is an adaptive cruise control operation executed when the group driving mode is not valid, and a second operation that is an adaptive cruise control operation executed when the group driving mode is valid. Therefore, the rider can recognize the execution of the special adaptive cruise control operation, and the driving assistance for the rider is improved.

[0066] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to display a right lane mark LR that is a mark representing the right lane in the group and a left lane mark LL that is a mark representing the left lane in the group. With such a configuration, the rider can intuitively recognize the activation of the group driving mode. In particular, when the motorcycle 100 belongs to the right lane in the group, the execution unit 22 causes the notification device 50 to display the right lane mark LR emphasized in comparison with the left lane mark LL, and when the motorcycle 100 belongs to the left lane in the group, the execution unit 22 causes the notification device 50 to display the left lane mark LL emphasized in comparison with the right lane mark LR. Also, in particular, the execution unit 22 preferably emphasizes and displays a mark representing the lane to which another motorcycle 200 that precedes closest to the motorcycle 100 among the right lane mark LR and the left lane mark LL belongs, in comparison with the other mark. With such configurations, the rider can surely recognize the execution of the special adaptive cruise control operation, and the driving assistance for the rider is improved.

[0067] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to change the display of at least one of the right lane marker LR and the left lane marker LL according to the change in the control parameter of the automatic acceleration / deceleration operation to be executed on the motorcycle 100. For example, in the adaptive cruise control operation, the target value of the braking device 30 or the driving device 40 output from the execution unit 22 changes depending on whether the motorcycle 100 belongs to the right lane or the left lane. Therefore, the emphasis on the right lane marker LR or the left lane marker LL will be linked to the change in the control parameter of the automatic acceleration / deceleration operation. With such a configuration, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving assistance for the rider is improved.

[0068] Embodiment 4. The rider support system according to Embodiment 4 will be described below. Note that the rider support system according to Embodiment 4 differs from the rider support system according to Embodiment 1 in that the notification to the rider that the execution unit 22 causes the notification device 50 to execute in the second operation is different. Descriptions of overlapping or similar contents are omitted.

[0069] <Configuration of Rider Support System> The configuration of the rider support system according to Embodiment 4 will be described. FIG. 15 is a diagram for explaining the configuration of the rider support system according to Embodiment 4 of the present invention.

[0070] As shown in FIG. 15, in the second operation, the execution unit 22 causes the notification device 50 to display a plurality of emblems LM, each representing one other motorcycle 200 preceding the motorcycle 100, in addition to the emblem LA indicating the type of rider support operation. The emblems LM are different from each other and represent different other motorcycles 200. The emblem LA may be an emblem indicating the speed control mode (e.g., passing time difference mode, inter-vehicle distance mode, etc.) set in the adaptive cruise control operation. Each emblem LM may be displayed adjacent to the emblem LA. Each emblem LM is an illustration imitating a motorcycle. The illustration may imitate the state of the motorcycle seen from behind, or may also imitate the state of the motorcycle seen from the front, side, or above. Also, each emblem LM may be an illustration including a rider, or may be an illustration not including a rider. Each emblem LM may be a character or symbol representing another motorcycle 200. The execution unit 22 may display each emblem LM in a fixed positional relationship regardless of the positional relationship of each vehicle on the actual road, or may display it in a positional relationship (e.g., position, interval, etc.) corresponding to the positional relationship of each vehicle on the actual road. The execution unit 22 displays the emblem LM when the target vehicle for speed control in the adaptive cruise control operation is specified, and does not display the emblem LM when the target vehicle for speed control in the adaptive cruise control operation is not specified.

[0071] The execution unit 22 selects one of the plurality of other motorcycles 200 from which the position relationship information is acquired by the acquisition unit 21 as the target vehicle for speed control in the second operation. In such a case, the execution unit 22 causes the notification device 50 to compare and highlight the mark LM representing the other motorcycle 200 selected as the target vehicle for speed control with the marks representing the other motorcycles 200 that are not selected as the target vehicle for speed control and display them. Alternatively, the execution unit 22 determines the weight of each of the plurality of other motorcycles 200 from which the position relationship information is acquired by the acquisition unit 21 (that is, k1 and k2 in Formula 1 and Formula 2), and executes the second operation based on the weight. In such a case, the execution unit 22 causes the notification device 50 to compare and highlight the mark LM representing the other motorcycle 200 with a large weight with the mark LM representing the other motorcycle with a small weight and display them. The execution unit 22 may emphasize the mark LM by enlarging the display, or may emphasize the mark LM by brightening the display color, or may emphasize the mark LM by darkening the display, or may emphasize the mark LM by attaching characters or symbols (especially, the value of the weight determined to be large). The execution unit 22 may position the bottom of the mark representing the other motorcycle 200 preceding far from the motorcycle 100 above the bottom of the mark representing the other motorcycle 200 preceding near the motorcycle 100. In particular, the execution unit 22 may position the bottom of the mark representing the other motorcycle 200 preceding far from the motorcycle 100 higher as the linear distance to the motorcycle 100 or the difference in distance in the front-rear direction of the motorcycle 100 is larger. The execution unit 22 may select some of all the other motorcycles 200 from which the position relationship information is acquired by the acquisition unit 21 and display only the mark LM corresponding to the other motorcycles 200, or may display the mark LM corresponding to all the other motorcycles 200 without selecting some of the other motorcycles 200. In such a selection, those with a short linear distance to the motorcycle 100 or a short distance in the front-rear direction of the motorcycle 100, or those with a large weight may be selected.

[0072] <Effect of Rider Support System> The effect of the rider support system according to Embodiment 4 will be described. In the control device 20, the execution unit 22 performs a first operation, which is an adaptive cruise control operation executed when the group driving mode is not valid, and a second operation, which is an adaptive cruise control operation executed when the group driving mode is valid, to cause the notification device 50 to perform different notifications to the rider. Therefore, the rider can recognize the execution of the special adaptive cruise control operation, and the driving support for the rider is improved.

[0073] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to display a plurality of marks LM each representing a separate other motorcycle 200 that precedes the motorcycle 100. By being configured in this way, the rider can intuitively recognize the validity of the group driving mode. In particular, the execution unit 22 may display the mark LM representing the other motorcycle 200 selected as the target vehicle for speed control in an emphasized manner compared to the mark LM representing the other motorcycle 200 that is not selected as the target vehicle for speed control. Also, in particular, the execution unit 22 may display the mark LM representing the other motorcycle 200 with a large weight in an emphasized manner compared to the mark LM representing the other motorcycle with a small weight. By being configured in these ways, it is ensured that the rider can recognize the execution of the special adaptive cruise control operation, and the driving support for the rider is improved.

[0074] Preferably, in the second operation, the execution unit 22 causes the notification device 50 to display at least a part of the plurality of logos LM differently according to the change in the control parameter of the automatic acceleration / deceleration operation to be executed on the motorcycle 100. For example, in the adaptive cruise control operation, the target value of the braking device 30 or the driving device 40 output from the execution unit 22 changes according to the positional relationship of the motorcycle 100 with respect to the plurality of other motorcycles 200. Therefore, the emphasis on the logo LM will be linked to the change in the control parameter of the automatic acceleration / deceleration operation. By being configured in this way, it is ensured that the rider recognizes the execution of the special adaptive cruise control operation, and the driving assistiveness of the rider is improved.

[0075] As described above, the first to fourth embodiments have been described. However, only a part of each embodiment may be implemented, or a part of each embodiment may be combined with each other, or a part of each embodiment may be changed to a different mode. That is, the present invention is not limited to the descriptions of the first to fourth embodiments.

[0076] For example, above, the case where the acquisition unit 21 acquires the positional relationship information between the motorcycle 100 and the other motorcycles 200 based on the output of the surrounding environment sensor 11 has been described. However, the acquisition unit 21 may acquire the positional relationship information between the motorcycle 100 and the other motorcycles 200 using other means (for example, wireless communication between the motorcycle 100 and the other motorcycles 200, wireless communication between the motorcycle 100 and the surrounding infrastructure facilities, etc.).

[0077] Also, for example, above, the case where the group riding mode is a mode in which the motorcycle 100 rides in a group with a plurality of other motorcycles 200 has been described. However, the group riding mode may be a mode in which the motorcycle 100 rides in a group with only one other motorcycle 200. Even in such a case, the same effects can be achieved with the same configuration.

Description of Reference Numerals

[0078] 1 Rider assistance system, 11 Surrounding environment sensor, 12 Vehicle behavior sensor, 13 Setting input device, 20 Control device, 21 Acquisition unit, 22 Execution unit, 30 Braking device, 40 Driving device, 50 Notification device, 100 Motorcycle, 200 Other motorcycle, 300 Vehicle, DL Driving lane, L1 First vehicle column, L2 Second vehicle column, LA Symbol representing the type of rider assistance operation, LV Symbol representing the invalidation of the group driving mode, LG Symbol representing the validity of the group driving mode, LF Leading vehicle symbol, LB Following vehicle symbol, LR Right side vehicle column symbol, LL Left side vehicle column symbol, LM Symbol representing other motorcycles.

Claims

1. A control device (20) of a rider assistance system (1) for assisting the operation of a rider of a motorcycle (100), while the motorcycle (100) is running, an acquisition unit (21) for acquiring ambient environment information of the motorcycle (100); an execution unit (22) for causing the motorcycle (100) to execute an adaptive cruise control operation based on the ambient environment information acquired by the acquisition unit (21); comprising: when the group running mode, which is a mode in which the motorcycle (100) runs in a group with at least one other motorcycle (200), is not valid, the execution unit (22) causes the motorcycle (100) to execute a first operation as the adaptive cruise control operation; when the group running mode is valid, the execution unit (22) causes the motorcycle (100) to execute a second operation different from the first operation as the adaptive cruise control operation; the execution unit (22) makes the notification to the rider executed by the notification device (50) different between the first operation and the second operation; the execution unit (22) causes the notification device (50) to display a logo in the second operation; the execution unit (22) makes the display of the logo by the notification device (50) different according to a change in a control parameter of an automatic acceleration / deceleration operation to be executed by the motorcycle (100) in the second operation; Control device (20).

2. the execution unit (22) causes the notification device (50) to display a logo (LG) indicating the validity of the group running mode in the second operation; the execution unit (22) makes the display of the logo (LG) by the notification device (50) different according to a change in the control parameter of the automatic acceleration / deceleration operation in the second operation; The control device (20) according to claim 1.

3. The logo (LG) represents one motorcycle, The control device (20) according to claim 2.

4. The logo (LG) represents a plurality of motorcycles, The control device (20) according to claim 2.

5. In the second operation, the execution unit (22) causes the notification device (50) to display at least one of a leading vehicle mark (LF) which is a mark representing one leading vehicle in the group and a following vehicle mark (LB) which is a mark representing one following vehicle in the group. In the second operation, the execution unit (22) varies the display of at least one of the leading vehicle mark (LF) and the following vehicle mark (LB) by the notification device (50) according to a change in the control parameter of the automatic acceleration / deceleration operation. The control device (20) according to claim 1.

6. In the second operation, when the motor cycle (100) is the leading vehicle in the group, the execution unit (22) causes the notification device (50) to display the leading vehicle mark (LF) in an emphasized manner by comparing it with the following vehicle mark (LB), and when the motor cycle (100) is the following vehicle in the group, the execution unit (22) causes the notification device (50) to display the following vehicle mark (LB) in an emphasized manner by comparing it with the leading vehicle mark (LF). The control device (20) according to claim 5.

7. In the second operation, the execution unit (22) causes the notification device (50) to display a right column mark (LR) which is a mark representing the right column of vehicles in the group and a left column mark (LL) which is a mark representing the left column of vehicles in the group. In the second operation, the execution unit (22) varies the display of at least one of the right column mark (LR) and the left column mark (LL) by the notification device (50) according to a change in the control parameter of the automatic acceleration / deceleration operation. The control device (20) according to claim 1.

8. In the second operation, when the motor cycle (100) belongs to the right column of vehicles in the group, the execution unit (22) causes the notification device (50) to display the right column mark (LR) in an emphasized manner by comparing it with the left column mark (LL), and when the motor cycle (100) belongs to the left column of vehicles in the group, the execution unit (22) causes the notification device (50) to display the left column mark (LL) in an emphasized manner by comparing it with the right column mark (LR). The control device (20) according to claim 7.

9. In the second operation, the execution unit (22) causes the notification device (50) to emphasize and display a mark representing the vehicle column to which the other motorcycle (200) that precedes closest to the motorcycle (100) among the right vehicle column mark (LR) and the left vehicle column mark (LL) belongs, by comparing it with the other mark. The control device (20) according to claim 7.

10. In the second operation, the execution unit (22) causes the notification device (50) to display a plurality of marks (LM) each representing one separate other motorcycle (200) that precedes the motorcycle (100). In the second operation, the execution unit (22) causes at least a part of the plurality of marks (LM) to be displayed differently by the notification device (50) in accordance with a change in the control parameter of the automatic acceleration / deceleration operation. The control device (20) according to claim 1.

11. The acquisition unit (21) acquires, as the surrounding environment information, position relationship information of each of the plurality of other motorcycles (200) with respect to the motorcycle (100). In the second operation, the execution unit (22) selects one of the plurality of other motorcycles (200) from which the position relationship information is acquired by the acquisition unit (21) as a target vehicle for speed control in the second operation. In the second operation, the execution unit (22) causes the notification device (50) to emphasize and display the mark (LM) representing the other motorcycle (200) selected as the target vehicle for speed control, by comparing it with the mark (LM) representing the other motorcycles (200) not selected as the target vehicle for speed control. The control device (20) according to claim 10.

12. The acquisition unit (21) acquires, as the surrounding environment information, position relationship information of each of the plurality of other motorcycles (200) with respect to the motorcycle (100). In the second operation, the execution unit (22) determines the weight of each of the plurality of other motorcycles (200) from which the position relationship information is acquired by the acquisition unit (21), and executes the second operation based on the weight. In the second operation, the execution unit (22) causes the notification device (50) to display the mark (LM) representing the other motorcycle (200) with a larger weight in an emphasized manner compared to the mark (LM) representing the other motorcycle (200) with a smaller weight. The control device (20) according to claim 10.

13. The marks (LG, LF, LB, LR, LL, LM) are illustrations imitating a motorcycle. The control device (20) according to any one of claims 2 to 12.

14. A control method for a rider assistance system (1) that assists the operation of a rider of a motorcycle (100), An acquisition step (S101) in which an acquisition unit (21) of a control device (20) acquires ambient environment information of the motorcycle (100) while the motorcycle (100) is traveling, An execution step (S102) in which an execution unit (22) of the control device (20) causes the motorcycle (100) to execute an adaptive cruise control operation based on the ambient environment information acquired in the acquisition step (S101), Comprising: In the execution step (S102), when the group traveling mode, which is a mode in which the motorcycle (100) travels in a group with at least one other motorcycle (200), is not valid, the execution unit (22) causes the motorcycle (100) to execute a first operation as the adaptive cruise control operation, and when the group traveling mode is valid, the execution unit (22) causes the motorcycle (100) to execute a second operation different from the first operation as the adaptive cruise control operation. In the execution step (S102), the execution unit (22) causes the notification to the rider executed by the notification device (50) to differ between the first operation and the second operation. In the execution step (S102), the execution unit (22) causes the notification device (50) to display a mark in the second operation. In the execution step (S102), the execution unit (22) causes the display of the mark by the notification device (50) to differ according to a change in a control parameter of an automatic acceleration / deceleration operation executed by the motorcycle (100) in the second operation. Control method.

Images