A processing device and method for determining the occurrence of an accident in a lean vehicle

Abstract

To obtain a processing device for discriminating presence / absence of occurrence of an accident of a leaning vehicle while suppressing complication, and also to obtain a method for discriminating presence / absence of occurrence of an accident of a leaning vehicle while suppressing complication.SOLUTION: A processing device (20) for discriminating presence / absence of occurrence of an accident of a leaning vehicle (100) includes: an execution section for executing a rider support operation, during traveling of the leaning vehicle (100), based on information to be detected by at least one of a first peripheral environment sensor (11c) mounted on the leaning vehicle (100) in a state facing the right side of the leaning vehicle (100) and a second peripheral environment sensor (11d) mounted on the leaning vehicle (100) in a state facing the left side of the leaning vehicle (100); and a discrimination section for discriminating presence / absence of occurrence of an accident based on an output of at least one of the first peripheral environment sensor (11c) and the second peripheral environment sensor (11d).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a processing device for determining the occurrence of an accident in a lean vehicle and a method for determining the occurrence of an accident in a lean vehicle.

Background Art

[0002] As a conventional lean vehicle, there is one equipped with a surrounding environment sensor. Based on the information detected by the surrounding environment sensor, a rider support operation for supporting the operation of the lean vehicle by the rider is executed (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] In a lean vehicle, an accident is likely to occur because it is less stable compared to other vehicles (for example, passenger cars, trucks, etc.). Therefore, the establishment of a technique for determining the occurrence of an accident is desired. On the other hand, in a lean vehicle, since it is smaller than other vehicles, it is desired to realize such a technique while suppressing complication.

[0005] The present invention has been made against the background of the above problems, and aims to obtain a processing device capable of determining the occurrence of an accident in a lean vehicle while suppressing complication. Also, it aims to obtain a method capable of determining the occurrence of an accident in a lean vehicle while suppressing complication.

Means for Solving the Problems

[0006] The processing device according to the present invention is a processing device that determines whether or not an accident has occurred in a lean vehicle. During the running of the lean vehicle, based on information detected by at least one of a first surrounding environment sensor mounted on the lean vehicle in a state of facing the right side of the lean vehicle and a second surrounding environment sensor mounted on the lean vehicle in a state of facing the left side of the lean vehicle, an execution unit that executes a rider support operation for assisting the rider of the lean vehicle in driving the lean vehicle, and a determination unit that determines whether or not the accident has occurred based on an output of at least one of the first surrounding environment sensor and the second surrounding environment sensor.

[0007] The method according to the present invention is a method for determining whether or not an accident has occurred in a lean vehicle. An execution step in which an execution unit of a processing device executes a rider support operation for assisting the rider of the lean vehicle in driving the lean vehicle based on information detected by at least one of a first surrounding environment sensor mounted on the lean vehicle in a state of facing the right side of the lean vehicle and a second surrounding environment sensor mounted on the lean vehicle in a state of facing the left side of the lean vehicle during the running of the lean vehicle, and a determination step in which a determination unit of the processing device determines whether or not the accident has occurred based on an output of at least one of the first surrounding environment sensor and the second surrounding environment sensor.

Effect of the Invention

[0008] In the processing device and method according to the present invention, the determination unit determines whether or not an accident has occurred in the lean vehicle based on an output of at least one of the first surrounding environment sensor and the second surrounding environment sensor for executing a rider support operation for assisting the rider of the lean vehicle in driving, that is, by diverting existing sensors provided for the rider support operation for assisting the rider of the lean vehicle in driving. Therefore, it is possible to determine whether or not an accident has occurred in the lean vehicle while suppressing complication.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0010] Hereinafter, the processing device and 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 processing device and method according to the present invention are not limited to such configurations, operations, etc.

[0012] For example, in the following, the case where the processing device and method according to the present invention are used in a rider support system for a motorcycle is described. However, the processing device and method according to the present invention may be used in a rider support system for other lean vehicles other than motorcycles. A lean vehicle means a vehicle in which the vehicle body leans to the right when turning right and leans to the left when turning left. Lean vehicles include, for example, motorcycles (motorcycles, three-wheeled motorcycles), bicycles, etc. Motorcycles include vehicles with an engine as a power source, vehicles with an electric motor as a power source, etc. Motorcycles include, for example, motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the pedaling force of the rider applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0013] Also, in the following, the same or similar descriptions 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 The rider assistance system according to the embodiment will be described below.

[0015] <Configuration of Rider Assistance System> The configuration of the rider assistance system according to the embodiment will be described. FIG. 1 is a diagram showing the mounted state of the rider assistance system according to the embodiment of the present invention on a lean vehicle. FIG. 2 is a diagram showing the system configuration of the rider assistance system according to the embodiment of the present invention.

[0016] As shown in FIGS. 1 and 2, the rider assistance system 1 is mounted on the lean vehicle 100. The rider assistance system 1 includes at least one of a surrounding environment sensor 11a that detects surrounding environment information in front of the lean vehicle 100, a surrounding environment sensor 11b that detects surrounding environment information behind the lean vehicle 100, a surrounding environment sensor 11c that detects surrounding environment information on the right side of the lean vehicle 100, and a surrounding environment sensor 11d that detects surrounding environment information on the left side of the lean vehicle 100, and a vehicle behavior sensor 12 that detects vehicle behavior information of the lean vehicle 100, and a processing device 20. The surrounding environment sensor 11c corresponds to the "first surrounding environment sensor" in the present invention. The surrounding environment sensor 11d corresponds to the "second surrounding environment sensor" in the present invention.

[0017] In the rider assistance system 1, the processing device 20 executes a rider assistance operation for assisting the operation of the lean vehicle 100 by the rider of the lean vehicle 100 using the detected surrounding environment information. Detection results of various sensors (not shown) for detecting other information (for example, information on the brake operation state by the rider, information on the accelerator operation state by the rider, etc.) are also input to the processing device 20 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 sensors 11a, 11b, 11c, and 11d may detect information related to the distance or orientation to a subject located around the lean vehicle 100 (e.g., relative position, relative distance, relative speed, relative acceleration, relative jerk, etc.), or may detect features of a subject located around the lean vehicle 100 (e.g., type of the subject, shape of the subject itself, marks attached to the subject, etc.). Each of the surrounding environment sensors 11a, 11b, 11c, and 11d is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0019] The surrounding environment sensor 11a is provided at the front of the lean vehicle 100 and is directed forward of the lean vehicle 100. The surrounding environment sensor 11b is provided at the rear of the lean vehicle 100 and is directed rearward of the lean vehicle 100. The surrounding environment sensor 11c is provided at the side of the lean vehicle 100 and is directed to the right of the lean vehicle 100. The surrounding environment sensor 11d is provided at the side of the lean vehicle 100 and is directed to the left of the lean vehicle 100. The direction in which each of the surrounding environment sensors 11c and 11d is directed may be parallel to the vehicle width direction of the lean vehicle 100 when the lean vehicle 100 is viewed from above, may be shifted forward by a predetermined angle with respect to the vehicle width direction, or may be shifted rearward by a predetermined angle with respect to the vehicle width direction. Also, the direction in which each of the surrounding environment sensors 11c and 11d is directed may be parallel to the vehicle width direction of the lean vehicle 100 when the lean vehicle 100 is viewed from behind, may be shifted downward by a predetermined angle with respect to the vehicle width direction, or may be shifted upward by a predetermined angle with respect to the vehicle width direction.

[0020] The vehicle behavior sensor 12 detects the vehicle behavior information of the lean vehicle 100. 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 vehicle speed occurring in the lean vehicle 100. The vehicle speed sensor may detect another physical quantity that can be substantially converted into the vehicle speed occurring in the lean vehicle 100. The inertial sensor detects the three-axis acceleration and the angular velocity of the three axes (roll angle, pitch angle, yaw angle) occurring in the lean vehicle 100. The inertial sensor may detect another physical quantity that can be substantially converted into the three-axis acceleration and the three-axis angular velocity occurring in the lean vehicle 100. Further, the inertial sensor may detect a part of the three-axis acceleration and the three-axis angular velocity.

[0021] The processing device 20 includes at least an execution unit 21, a determination unit 22, and a storage unit 23. All or each part of the processing device 20 may be provided together in one housing, or may be provided separately in a plurality of housings. Further, all or each part of the processing device 20 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, may be configured by something updatable such as firmware, or may be a program module executed by a command from a CPU or the like.

[0022] The execution unit 21 executes a rider support operation for supporting the operation of the lean vehicle 100 by the rider of the lean vehicle 100 based on the information detected by various sensors, particularly the information detected by at least one of the surrounding environment sensors 11c and 11d.

[0023] For example, the execution unit 21 determines the presence or absence of a traveling vehicle located in the blind spot of the rider of the lean vehicle 100 based on the information detected by at least one of the surrounding environment sensors 11c and 11d. When a determination result that such a traveling vehicle exists is obtained, the execution unit 21 outputs a control command to the notification device 30 and executes an operation of notifying the rider of the presence of the traveling vehicle located in the blind spot.

[0024] For example, based on the information detected by at least one of the surrounding environment sensors 11c and 11d, the execution unit 21 determines the presence or absence of the possibility of a collision occurring in the lean vehicle 100. When a determination result indicating the possibility of a collision is obtained, the execution unit 21 outputs a control command to the notification device 30 to perform an operation of notifying the rider that there is a possibility of a collision, that is, an operation of reducing the possibility of a collision occurring in the lean vehicle 100.

[0025] For example, based on the information detected by at least one of the surrounding environment sensors 11c and 11d, the execution unit 21 determines the presence or absence of the possibility of a collision occurring in the lean vehicle 100. When a determination result indicating the possibility of a collision is obtained, the execution unit 21 outputs a control command to a vehicle behavior control device (for example, a brake control device, an engine control device, etc.) 40 provided in the lean vehicle 100 to perform an operation of causing automatic deceleration or automatic acceleration in the lean vehicle 100, that is, an operation of reducing the possibility of a collision occurring in the lean vehicle 100.

[0026] For example, based on the information detected by at least one of the surrounding environment sensors 11c and 11d, the execution unit 21 changes an automatic speed control operation (for example, an adaptive cruise operation, an emergency deceleration operation, etc.) performed based on the information detected by at least one of the surrounding environment sensors 11a and 11b. Based on the information detected by at least one of the surrounding environment sensors 11c and 11d, the execution unit 21 determines the type of the driving environment of the lean vehicle 100 (for example, passing through between vehicle rows, group riding, etc.) and performs an automatic speed control operation corresponding to the type.

[0027] Note that the notification device 30 may notify by sound, may notify by display or lighting, may notify by vibration, or may be a combination thereof. The execution unit 21 may output a control command to the vehicle behavior control device 40 to instantaneously decelerate or accelerate the lean vehicle 100 automatically, thereby performing notification by vibration. In such a case, the vehicle behavior control device 40 functions as the notification device 30. The notification device 30 may be provided on the lean vehicle 100, or may be provided on accessories (for example, helmets, gloves, etc.) attached to the lean vehicle 100.

[0028] The determination unit 22 determines the presence or absence of an accident of the lean vehicle 100 based on the output of at least one of the surrounding environment sensors 11c and 11d. When an accident of the lean vehicle 100 occurs, the lean vehicle 100 often falls over, and one of the surrounding environment sensors 11c and 11d faces downward and the other faces upward. The determination unit 22 determines the presence or absence of such a fall based on the output of at least one of the surrounding environment sensors 11c and 11d, thereby determining the presence or absence of an accident of the lean vehicle 100.

[0029] For example, the determination unit 22 determines the presence or absence of an accident of the lean vehicle 100 based on the determination of the presence or absence of detection of information indicating that an object exists at a distance below the lower limit value in one of the surrounding environment sensors 11c and 11d. When an accident occurs, the lean vehicle 100 may fall in a posture in which one of the surrounding environment sensors 11c and 11d approaches the ground. In such a case, depending on the detection principle, information indicating that an object exists at a distance below the lower limit value may be detected. When the determination unit 22 continues to detect information indicating that an object exists at a distance below the lower limit value in one of the surrounding environment sensors 11c and 11d for a period exceeding the reference time, it is advisable to obtain a determination result that an accident has occurred in the lean vehicle 100.

[0030] For example, the discrimination unit 22 discriminates whether an accident has occurred to the lean vehicle 100 based on the determination of the presence or absence of an object detected by one of the ambient environment sensors 11c and 11d. When an accident occurs, the lean vehicle 100 may fall in a posture where one of the ambient environment sensors 11c and 11d approaches the ground. In such a case, depending on the detection principle, it may be impossible to detect an object. When the discrimination unit 22 continuously negates the presence or absence of an object by one of the ambient environment sensors 11c and 11d for a period exceeding the reference time, it may obtain a discrimination result that an accident has occurred to the lean vehicle 100.

[0031] For example, in addition to or instead of one of the ambient environment sensors 11c and 11d, the discrimination unit 22 discriminates whether an accident has occurred to the lean vehicle 100 based on the determination of the presence or absence of an object detected by the other of the ambient environment sensors 11c and 11d. When an accident occurs, the lean vehicle 100 may fall in a posture where one of the ambient environment sensors 11c and 11d approaches the ground and the other of the ambient environment sensors 11c and 11d faces the sky. In such a case, depending on the detection principle, it may be impossible to detect an object by the other of the ambient environment sensors 11c and 11d. When the discrimination unit 22 continuously negates the presence or absence of an object by the other of the ambient environment sensors 11c and 11d for a period exceeding the reference time, it may obtain a discrimination result that an accident has occurred to the lean vehicle 100. In addition, when the lean vehicle 100 falls in such a posture, for example, in a tunnel, it may be possible to detect an object by the other of the ambient environment sensors 11c and 11d. Therefore, the discrimination unit 22 may discriminate whether an accident has occurred to the lean vehicle 100 based only on the output of one of the ambient environment sensors 11c and 11d.

[0032] In addition to the output of at least one of the ambient environment sensors 11c and 11d, the discrimination unit 22 may discriminate whether an accident has occurred to the lean vehicle 100 based on the vehicle behavior information of the lean vehicle 100.

[0033] For example, when the determination of the presence or absence of a fall based on the output of at least one of the ambient environment sensors 11c and 11d is affirmed, and information indicating that the vehicle speed is below the lower limit value is detected by a vehicle speed sensor as the vehicle behavior sensor 12, or information indicating that the vehicle speed is zero is detected by a vehicle speed sensor as the vehicle behavior sensor 12, the discrimination result that an accident has occurred in the lean vehicle 100 is obtained.

[0034] For example, when the determination of the presence or absence of a fall based on the output of at least one of the ambient environment sensors 11c and 11d is affirmed, and information indicating that the absolute value of the roll angle of the vehicle body exceeds the upper limit value is detected by an inertia sensor as the vehicle behavior sensor 12, the discrimination result that an accident has occurred in the lean vehicle 100 is obtained.

[0035] For example, when the determination of the presence or absence of a fall based on the output of at least one of the ambient environment sensors 11c and 11d is affirmed, information indicating that the absolute value of the roll angle of the vehicle body exceeds the upper limit value is continuously detected for a reference time by an inertia sensor as the vehicle behavior sensor 12, and information indicating that the absolute value of the angular velocity of the roll angle of the vehicle body is below the lower limit value is continuously detected for a reference time by an inertia sensor as the vehicle behavior sensor 12, the discrimination result that an accident has occurred in the lean vehicle 100 is obtained. When information indicating that the absolute value of the roll angle of the vehicle body increases at an angular velocity exceeding the upper limit value is detected by an inertia sensor as the vehicle behavior sensor 12, it is preferable to execute the discrimination of the occurrence of an accident in the lean vehicle 100.

[0036] For example, when the determination of the presence or absence of a fall based on the output of at least one of the ambient environment sensors 11c and 11d is affirmed, and information indicating that the acceleration in the longitudinal direction of the vehicle body is below the lower limit value continues to be detected by the inertial sensor as the vehicle behavior sensor 12 for a time exceeding the reference time, and information indicating that the jerk in the longitudinal direction of the vehicle body is below the lower limit value continues to be detected by the inertial sensor as the vehicle behavior sensor 12 for a time exceeding the reference time, the discrimination unit 22 obtains a discrimination result that an accident has occurred in the lean vehicle 100. When the discrimination unit 22 detects information indicating that the deceleration of the vehicle speed increases with a jerk exceeding the upper limit value by the inertial sensor as the vehicle behavior sensor 12, and detects information indicating that the deceleration of the vehicle speed exceeds the upper limit value by the inertial sensor as the vehicle behavior sensor 12, it is preferable to execute the discrimination of the occurrence of an accident in the lean vehicle 100.

[0037] Note that as vehicle behavior information, for example, the acceleration in the vehicle body width direction, the angular velocity of the yaw angle of the vehicle body, the angular velocity of the pitch angle of the vehicle body, etc. may be used, and the same determination may be made.

[0038] The storage unit 23 stores time information as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the storage unit 23 stores the time at that point, the detection results of various sensors (for example, the ambient environment sensors 11a, 11b, 11c, 11d, the vehicle behavior sensor 12, etc.), and information indicating the occurrence of the accident.

[0039] It is preferable that the execution unit 21 can execute an operation of stopping the power source of the lean vehicle 100 as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the kill switch 50 provided in the lean vehicle 100 to execute an operation of stopping the power source (for example, an engine, an electric motor, etc.) of the lean vehicle 100.

[0040] It is preferable that the execution unit 21 can execute an operation of notifying other vehicles of the occurrence of an accident as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the indicator lamp 60 provided in the lean vehicle 100 to execute an operation of turning on the hazard lamp of the lean vehicle 100. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to output a signal notifying other vehicles located around the lean vehicle 100 of the occurrence of the accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to output a signal notifying a pre-registered other vehicle of the occurrence of the accident.

[0041] It is preferable that the execution unit 21 can execute an operation of notifying an ambulance facility of the occurrence of an accident as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to output a signal notifying the ambulance facility of the occurrence of the accident.

[0042] It is preferable that the execution unit 21 can execute an operation of notifying a repair facility of the lean vehicle 100 of the occurrence of an accident as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to output a signal notifying the repair facility of the lean vehicle 100 of the occurrence of the accident.

[0043] The execution unit 21 may be capable of executing an operation of notifying a portable wireless terminal of the occurrence of an accident as an operation for dealing with the occurrence of an accident. For example, when the discrimination unit 22 obtains a discrimination result that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100, and outputs a signal for notifying the occurrence of the accident to a pre-registered portable wireless terminal. By the automatic communication function of the portable wireless terminal, for example, the occurrence of the accident may be notified to an ambulance facility, a repair facility for the lean vehicle 100, a pre-registered emergency contact, and the like.

[0044] <Operation of Rider Support System> The operation of the rider support system according to the embodiment will be described. FIG. 3 is a diagram showing an operation flow of a processing device of a rider support system according to an embodiment of the present invention.

[0045] The processing device 20 executes the operation flow shown in FIG. 3. In FIG. 3, a case where the presence or absence of an accident of the lean vehicle 100 is discriminated in a state where the rider support operation is being executed is shown, but the presence or absence of an accident of the lean vehicle 100 may be discriminated in a state where the rider support operation is not being executed. Also, only some steps may be executed, and another step may be appropriately added.

[0046] (Execution Step) In step S101, the execution unit 21 of the processing device 20 executes a rider support operation for supporting the operation of the lean vehicle 100 by the rider of the lean vehicle 100 based on information detected by at least one of the surrounding environment sensors 11a, 11b, 11c, and 11d mounted on the lean vehicle 100 during the running of the lean vehicle 100.

[0047] (Discrimination Step) In step S102, the determination unit 22 of the processing device 20 determines whether an accident has occurred to the lean vehicle 100 based on the output of at least one of the surrounding environment sensors 11c and 11d mounted on the lean vehicle 100. If a determination result that an accident has occurred is obtained, the process proceeds to step S103. If a determination result that no accident has occurred is obtained, the process returns to step S101.

[0048] (Countermeasure steps) In step S103, each part of the processing device 20 (for example, the storage unit 23, the execution unit 21, etc.) executes an operation for coping with the occurrence of an accident.

[0049] <Effect of the rider support system> The effect of the rider support system according to the embodiment will be described.

[0050] In the rider support system 1, the determination unit 22 of the processing device 20 determines whether an accident has occurred to the lean vehicle 100 based on the output of at least one of the surrounding environment sensors 11c and 11d, that is, by diverting an existing sensor provided for a rider support operation to support the operation of the lean vehicle 100 by the rider. Therefore, it is possible to determine whether an accident has occurred to the lean vehicle 100 while suppressing complication.

[0051] Preferably, the determination unit 22 determines whether an accident has occurred based on the vehicle behavior information of the lean vehicle 100. By being configured in this way, the determination of whether an accident has occurred to the lean vehicle 100 is made with high accuracy.

[0052] The embodiment of the present invention is not limited to the above description. That is, the present invention includes forms obtained by modifying the above-described embodiment. Further, the present invention includes forms in which only a part of the above-described embodiment is implemented.

Description of reference numerals

[0053] 1 Rider assistance system, 11a, 11b, 11c, 11d Surrounding environment sensors, 12 Vehicle behavior sensor, 20 Processing device, 21 Execution unit, 22 Discrimination unit, 23 Storage unit, 30 Notification device, 40 Vehicle behavior control device, 50 Kill switch, 60 Indicator light, 70 Wireless communication device, 100 Lean vehicle.

Claims

1. A processing device (20) for determining the presence or absence of an accident in a lean vehicle (100), during running of the lean vehicle (100), based on information detected by at least one of a first surrounding environment sensor (11c) mounted on the lean vehicle (100) in a state facing the right side of the lean vehicle (100) and a second surrounding environment sensor (11d) mounted on the lean vehicle (100) in a state facing the left side of the lean vehicle (100), an execution unit (21) that executes a rider support operation for supporting the operation of the lean vehicle (100) by a rider of the lean vehicle (100); a determination unit (22) that determines that an accident has occurred when detection of an object by one of the first surrounding environment sensor (11c) and the second surrounding environment sensor (11d) continues to be negated beyond a reference time; and is provided with a processing device (20).

2. The determination unit (22) further determines that an accident has occurred even when there is detection of information indicating that an object exists at a distance below a lower limit value by one of the first surrounding environment sensor (11c) and the second surrounding environment sensor (11d). The processing device (20) according to claim 1.

3. The determination unit (22) determines that an accident has occurred when detection continues that an object exists at a distance below a lower limit value by one of the first surrounding environment sensor (11c) and the second surrounding environment sensor (11d) beyond a reference time. The processing device (20) according to claim 2.

4. The determination unit (22) determines the presence or absence of an accident based on vehicle behavior information of the lean vehicle (100). The processing device (20) according to any one of claims 1 to 3.

5. and is provided with a storage unit (23) that stores the occurrence of the accident together with time information. The processing device (20) according to any one of claims 1 to 4.

6. The execution unit (21) further executes an operation of stopping the power source of the lean vehicle (100). The processing device (20) according to any one of claims 1 to 5.

7. The execution unit (21) further executes an operation of notifying other vehicles of the occurrence of the accident. The processing device (20) according to any one of claims 1 to 6.

8. The execution unit (21) further executes an operation of notifying an ambulance facility of the occurrence of the accident. The processing device (20) according to any one of claims 1 to 7.

9. The execution unit (21) further executes an operation of notifying a repair facility of the lean vehicle (100) of the occurrence of the accident. The processing device (20) according to any one of claims 1 to 8.

10. The execution unit (21) further executes an operation of notifying a portable wireless terminal of the occurrence of the accident. The processing device (20) according to any one of claims 1 to 9.

11. The rider support operation includes an operation of notifying the rider of the presence of a traveling vehicle located in a blind spot. The processing device (20) according to any one of claims 1 to 10.

12. The rider support operation includes an operation of reducing the possibility of a collision occurring in the lean vehicle (100). The processing device (20) according to any one of claims 1 to 11.

13. A method for determining the presence or absence of an accident in a lean vehicle (100), comprising: An execution step (S101) in which an execution unit (21) of the processing device (20) executes a rider assistance operation for assisting the driving of the lean vehicle (100) by a rider of the lean vehicle (100) based on information detected by at least one of a first surrounding environment sensor (11c) mounted on the lean vehicle (100) in a state of facing the right side of the lean vehicle (100) and a second surrounding environment sensor (11d) mounted on the lean vehicle (100) in a state of facing the left side of the lean vehicle (100) while the lean vehicle (100) is running; A determination step (S102) in which a determination unit (22) of the processing device (20) determines that an accident has occurred when detection of an object by one of the first surrounding environment sensor (11c) and the second surrounding environment sensor (11d) continues to be negated beyond a reference time; Comprising Method.

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