Driver assistance systems

Abstract

To provide a driving assistance system for a saddle-riding type vehicle enabling a rider to easily perform approval operation of a change of setting vehicle speed.SOLUTION: A driving assistance system 1 includes: an accelerator grip 811 capable of rotary operation for a rider to accelerate / decelerate driver's own vehicle to be a saddle-riding type vehicle; an accelerator position sensor 812 detecting rotary operation of the accelerator grip 811; an automatic travel control part 61 automatically controlling driver's own vehicle speed or a vehicular gap on the basis of set vehicle speed; a road sign recognition part 62 recognizing specified speed determined with respect to the road that the driver's own vehicle is traveling; and a vehicle speed setting part 64 which changes set vehicle speed on the basis of a recognition result of the road sign recognition part 62 in accordance with detection of rotary operation of a prescribed pattern by the accelerator position sensor 812 during executing automatic travel control based on the set vehicle speed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance system, and more particularly to a driving assistance system for a saddle-ride type vehicle that has a function of automatically controlling the vehicle speed based on a set vehicle speed and a function of recognizing a specified speed determined for the road on which the vehicle is traveling. [Background technology]

[0002] In recent years, in order to improve traffic safety, the adoption of driving assistance functions such as adaptive cruise control (hereinafter sometimes abbreviated as "ACC (Adoptive Cruise Control) function") and traffic sign recognition (hereinafter sometimes abbreviated as "TSR (Traffic Sign Recognition) function") has been promoted for motorcycles.

[0003] The ACC function is a function that automatically controls the vehicle's speed and distance from the vehicle in front to follow the vehicle in front if the vehicle in front is recognized as traveling at a speed slower than a predetermined set speed. Furthermore, in many cases, the ACC function automatically controls the vehicle's speed so that it becomes the set speed if the vehicle in front is not recognized as traveling at a speed slower than the set speed (see, for example, Patent Document 1). In the invention related to a motorcycle driving assistance system shown in Patent Document 1, the set speed can be decreased by operating the front brake, and increased by operating the throttle.

[0004] The TSR function is a function that recognizes road signs on the road while driving and displays the recognized information on the display at the appropriate time to alert the driver to the road signs.It is already installed in many four-wheeled vehicles. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6273000 Summary of the Invention [Problem to be solved by the invention]

[0006] However, while driving using the ACC function as described above, the legal speed limit for the road on which the vehicle is traveling may change, causing the set vehicle speed to exceed the legal speed. For this reason, by linking the ACC function and the TSR function, it is possible to automatically change the set vehicle speed of the ACC function based on the legal speed recognized by the TSR function, with the rider's approval.

[0007] In this case, a new switch would need to be installed to allow the rider to approve the automatic change in set vehicle speed based on the recognition results of the TSR function. However, most motorcycles do not have enough space to install a new switch. In addition, in this case, the rider would need to temporarily remove either hand from the accelerator grip to approve the change, which places a significant burden on the rider.

[0008] An object of the present invention is to provide a driving assistance system for a saddle-type vehicle that allows a rider to easily perform an operation to approve a change in the set vehicle speed. [Means for solving the problem]

[0009] (1) A driving assistance system according to the present invention (for example, driving assistance system 1 described later) is characterized by comprising an accelerator grip (for example, accelerator grip 811 described later) that can be rotated by a rider to accelerate or decelerate the rider's own vehicle, which is a saddle-type vehicle; an accelerator sensor (for example, accelerator position sensor 812 described later) that detects the rotation of the accelerator grip; automatic driving control means (for example, automatic driving control unit 61 described later) that automatically controls the vehicle speed or inter-vehicle distance based on a set vehicle speed; specified speed recognition means (for example, road sign recognition unit 62 described later) that recognizes a specified speed set for the road on which the vehicle is traveling; and vehicle speed setting means (for example, vehicle speed setting unit 64 described later) that changes the set vehicle speed based on the recognition result of the specified speed recognition means in response to the accelerator sensor detecting a rotation operation of a predetermined pattern while automatic driving control based on the set vehicle speed is being executed.

[0010] (2) In this case, it is preferable that the vehicle speed setting means, when detecting a rotation operation of a predetermined approval pattern by the accelerator sensor, changes the set vehicle speed based on the recognition result, and, when detecting a rotation operation of a predetermined denial pattern by the accelerator sensor, maintains the set vehicle speed.

[0011] (3) In this case, it is preferable that the rotation operation of the approval pattern is an operation of rotating the accelerator grip in the opening direction and then in the closing direction a first set number of times within a set time, and the rotation operation of the denial pattern is an operation of performing the opening and closing operation a second set number of times within the set time that is greater than the first set number of times.

[0012] (4) In this case, if the automatic driving control means detects an operation by the accelerator sensor that maintains the opening of the accelerator grip on the open side for more than the set time while the automatic driving control is being executed, it is preferable that the automatic driving control means stops execution of the automatic driving control and allows the vehicle speed to accelerate beyond the set vehicle speed.

[0013] (5) In this case, it is preferable that the vehicle speed setting means maintains the set vehicle speed when the accelerator sensor detects neither the approval pattern rotation operation nor the denial pattern rotation operation.

[0014] (6) In this case, the driving assistance system preferably further includes a forward information acquisition means (e.g., an external sensor unit 2 described below) for acquiring forward information regarding the conditions ahead of the vehicle, and when the automatic driving control means can recognize a vehicle to be followed, which is a preceding vehicle that satisfies the following target conditions determined based on the set vehicle speed, based on the forward information, it follows the vehicle to be followed by automatically controlling the inter-vehicle distance from the vehicle to be followed, and when the automatic driving control means cannot recognize the vehicle to be followed based on the forward information, it preferably automatically controls the vehicle speed so that the vehicle speed becomes the set vehicle speed.

[0015] (7) In this case, it is preferable that the driving assistance system further includes a display unit (for example, a display 41 described later) that is provided in a position visible to the rider while driving and that displays the set vehicle speed and the specified speed.

[0016] (8) In this case, when the set vehicle speed differs from the specified speed, it is preferable that the vehicle speed setting means displays an approval waiting image on the display unit indicating that the set vehicle speed can be changed to match the specified speed by operating the accelerator grip. [Effects of the Invention]

[0017] (1) The driving assistance system according to the present invention includes an accelerator grip that can be rotated by the rider, an accelerator sensor that detects the rotation of the accelerator grip, automatic cruise control means that automatically controls the vehicle speed or the following distance based on a set vehicle speed, and a prescribed speed recognition means that recognizes a prescribed speed set for the road on which the rider is traveling. Therefore, according to the present invention, while the automatic cruise control means is executing automatic cruise control based on the set vehicle speed, the rider only needs to hold the accelerator grip with his or her own hand, and there is no need to rotate the accelerator grip to maintain a predetermined opening, which is convenient. Furthermore, while the automatic cruise control means is executing automatic cruise control based on the set vehicle speed, i.e., while the rider does not need to actively rotate the accelerator grip as described above, the vehicle speed setting means changes the set vehicle speed based on the recognition result of the prescribed speed recognition means in response to the detection of a predetermined pattern of rotation by the accelerator sensor. Thus, according to the present invention, the accelerator grip, which does not need to be actively used during automatic cruise control, is used as an operator operated by the rider to approve the change in the set vehicle speed based on the recognition result of the prescribed speed recognition means, thereby eliminating the need for a new switch. Furthermore, according to the present invention, while automatic cruise control is being executed, the rider can easily approve a change in the set vehicle speed by simply rotating the accelerator grip in a predetermined pattern while holding it. Therefore, according to the present invention, the rider does not need to take his / her hands off the accelerator grip or check the position of a switch at hand while driving, which reduces the burden on the rider and ultimately improves traffic safety.

[0018] (2) In the present invention, when the accelerator sensor detects a rotation operation of a predetermined approval pattern, the vehicle speed setting means changes the set vehicle speed based on the recognition result, and when the accelerator sensor detects a rotation operation of a predetermined rejection pattern, the set vehicle speed is maintained without being changed based on the recognition result. Thus, according to the present invention, the rider can approve or reject the change in the set vehicle speed based on the recognition result by simply performing a rotation operation of an approval pattern or a rejection pattern while holding the accelerator grip while automatic driving control is being executed.

[0019] (3) In the present invention, while automatic cruise control is being executed, the rider can approve or reject a change in the set vehicle speed simply by opening or closing the accelerator grip within a predetermined set time. Many straddle-type vehicles have a delay between turning the accelerator grip and the actual start of acceleration. For this reason, riders who intend to accelerate their own vehicle often keep the accelerator grip open for more than a predetermined time. Therefore, the present invention can distinguish between accelerator grip operations based on the rider's intention to accelerate, accelerator grip operations based on the rider's intention to approve, and accelerator grip operations based on the rider's intention to reject.

[0020] (4) In the present invention, if the accelerator sensor detects an operation to maintain the opening of the accelerator grip in the open position for a set period of time or longer while the automatic cruise control is being executed, the automatic cruise control means stops the execution of the automatic cruise control and allows the host vehicle to accelerate beyond the set vehicle speed. Therefore, if the rider attempts to accelerate the host vehicle beyond the set vehicle speed for some reason while the automatic cruise control is being executed based on the set vehicle speed, the rider only needs to maintain the accelerator grip in the open position for a set period of time or longer, which is highly convenient.

[0021] (5) In the present invention, the vehicle speed setting means maintains the set vehicle speed when the accelerator sensor detects neither an approval pattern rotation operation nor a denial pattern rotation operation, thereby preventing the rider from unintentionally changing the set vehicle speed and causing a sudden change in the vehicle speed.

[0022] (6) In the driving assistance system according to the present invention, when the automatic driving control means can recognize a target vehicle to be followed that is determined based on a set vehicle speed, the automatic driving control means follows the target vehicle to be followed by automatically controlling the distance from the target vehicle to the target vehicle, and when the target vehicle cannot be recognized, the automatic driving control means controls the host vehicle speed so that the host vehicle speed becomes the set vehicle speed. According to the present invention, the set vehicle speed in the function of automatically following a target vehicle to be followed that is determined based on a set vehicle speed as described above and the function of maintaining the host vehicle speed at the set vehicle speed can be changed based on the rotational operation of the accelerator grip, which provides high convenience.

[0023] (7) The driving assistance system according to the present invention further includes a display unit that displays the set vehicle speed and the specified speed. Therefore, according to the present invention, the rider can easily recognize the degree of deviation between the set vehicle speed and the specified speed, and can easily determine whether to approve a change in the set vehicle speed based on the recognition result.

[0024] (8) In the driving assistance system according to the present invention, when the set vehicle speed differs from the specified speed, the vehicle speed setting means displays an approval-waiting image on the display unit, indicating that the set vehicle speed can be changed to match the specified speed by operating the accelerator grip. This allows the rider to easily understand that the set vehicle speed can be changed simply by operating the accelerator grip. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a diagram schematically illustrating a configuration of a driving assistance system according to an embodiment of the present invention. [Figure 2A] FIG. 10 is a diagram showing an example of an image displayed on the display when the ACC function is in the OFF state and the TSR function is in the ON state. [Figure 2B] FIG. 10 is a diagram showing an example of an image displayed on the display when the ACC function is on and the TSR function is on. [Figure 2C] FIG. 10 is a diagram showing an example of an image displayed on the display when the ACC function is in a standby state and the TSR function is in an on state. [Figure 3] 4 is a flowchart showing a specific procedure of automatic driving control by an automatic driving control unit. [Figure 4] 10 is a flowchart showing a specific procedure of a status flag update process. [Figure 5] 10 is a flowchart showing a specific procedure for a set vehicle speed change process in a TSR-linked mode. [Figure 6] FIG. 10 is a diagram showing an example of an image displayed on a display based on an approval-awaiting image display command. [Figure 7] 10 is a time chart showing a case where a rider performs an approval operation in an approval waiting state. [Figure 8] 10 is a time chart showing a case where a rider performs a denial operation in a state waiting for approval. [Figure 9] 10 is a time chart showing a case where the rider performs neither an approval operation nor a denial operation in the approval waiting state. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, the configuration of a driving assistance system according to an embodiment of the present invention will be described with reference to the drawings.

[0027] FIG. 1 is a diagram showing the configuration of a driving assistance system 1 according to this embodiment. The driving assistance system 1 is mounted on a motorcycle (not shown) as a straddle-type vehicle. The driving source of the motorcycle may be an internal combustion engine, a rotating electric machine, or a combination of these. The power source for the rotating electric machine may be a secondary battery, a capacitor, or a fuel cell. The following description will be given of a case in which the driving assistance system 1 is applied to a motorcycle, but the present invention is not limited to this. In addition to motorcycles, the present invention can be applied to straddle-type vehicles such as straddle-type three-wheeled vehicles, straddle-type four-wheeled vehicles, and motorized bicycles.

[0028] The driving assistance system 1 assists the driver in safe driving of a motorcycle. Among the various driving assistance functions realized by this driving assistance system 1, the following will explain the ACC function, which automatically controls at least one of the following distance to a vehicle in front and the vehicle speed of the vehicle (hereinafter also referred to as "vehicle speed") and follows the vehicle in front, and the TSR function, which recognizes road signs on the road being traveled and displays the recognized information on a display at an appropriate time to alert the driver to the road signs.

[0029] The driving assistance system 1 includes an external sensor unit 2, a vehicle sensor unit 3, a human-machine interface 4 (hereinafter abbreviated as "HMI 4"), a navigation device 5, a driving assistance control device 6, a driving operator 81, a driving force output device 82, and a brake device 83. These devices are connected to each other by multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc.

[0030] The external sensor unit 2 is composed of a camera unit 21, a lidar unit 22, a radar unit 23, an external recognition device 24, and the like.

[0031] The camera unit 21 includes a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The lidar unit 22 includes a lidar (Light Detection and Ranging (LIDAR)) that detects an object by measuring scattered light from the object in response to pulsed laser irradiation. The radar unit 23 includes a millimeter-wave radar that detects an object by measuring reflected waves from the object in response to millimeter-wave irradiation. The camera unit 21, the lidar unit 22, and the radar unit 23 are attached to any position on the motorcycle, such as the front windshield or mirror, while facing forward of the vehicle.

[0032] The external recognition device 24 is a computer that acquires information about the state ahead of the vehicle, more specifically, information such as the position, shape, type, and speed of roads and objects ahead of the vehicle, and the contents of road signs (hereinafter, these will be collectively referred to as "forward information"), by performing sensor fusion processing on the detection results from some or all of the camera unit 21, the lidar unit 22, and the radar unit 23. The external recognition device 24 transmits the acquired forward information to, for example, the driving assistance control device 6.

[0033] The vehicle sensor unit 3 includes a vehicle speed sensor that detects the vehicle speed, a five-axis or six-axis inertial measurement device, etc. The inertial measurement device detects the angles or angular velocities and accelerations of three axes (roll axis, pitch axis, and yaw axis) of the vehicle body. The detection signals of the vehicle sensor unit 3 are transmitted to, for example, the driving assistance control device 6.

[0034] The HMI 4 is composed of multiple interfaces that present various information to the vehicle occupants and accept input operations by the occupants. Of the multiple interfaces that make up the HMI 4, Fig. 1 illustrates only a display 41, an ACC function indicator light 42, an ACC main switch 43, and an ACC lever 44, which are particularly related to the ACC function and TSR function.

[0035] The display 41 is provided in a position visible to the rider while driving, and displays images in response to commands from a display control unit 65 (described later) of the driving assistance control device 6. The display 41 displays information relating to the recognition results by a road sign recognition unit 62 (described later), information relating to a set vehicle speed set by a vehicle speed setting unit 64 (described later), and the like. Specific examples of images displayed on the display 41 will be described later with reference to FIGS. 2A to 2C and 6.

[0036] The ACC main switch 43 is pressed by the rider when switching on / off the ACC function by the driving assistance control device 6. This ACC main switch 43 is provided, for example, at the base of an accelerator grip 811, which will be described later. This allows the rider to operate the ACC main switch 43 with the thumb of their right hand that grips the accelerator grip 811.

[0037] More specifically, when the rider presses the ACC main switch 43 while the ACC function by the driving assistance control device 6 is in the OFF state, the ACC function transitions to a standby state. Furthermore, when the rider presses the ACC main switch 43 while the ACC function by the driving assistance control device 6 is in the ON state or standby state, the ACC function transitions to the OFF state.

[0038] The ACC lever 44 is tilted by the rider to change the set vehicle speed or to switch the ACC function from standby to on. This ACC lever 44 can be tilted from the neutral position to either the "RES / +" side or the "SET / -" side. This ACC lever 44 is provided, for example, at the base of an accelerator grip 811, which will be described later. This allows the rider to operate the ACC lever 44 with the thumb of his right hand, which holds the accelerator grip 811.

[0039] More specifically, when the ACC function by the driving assistance control device 6 is in a standby state, if the rider tilts the ACC lever 44 toward the "SET / -" side, the ACC function transitions to an ON state and the vehicle speed at that time is set as the set vehicle speed. That is, the rider first presses the ACC main switch 43 to transition the ACC function from an OFF state to a standby state, and then tilts the ACC lever 44 toward the "SET / -" side to transition the ACC function to an ON state.

[0040] Furthermore, when the rider tilts the ACC lever 44 toward the "RES / +" side while the ACC function of the driving assistance control device 6 is in standby mode, the value stored in a memory (not shown) (the set vehicle speed when it was in the on state immediately before) is set as the set vehicle speed, and the ACC function transitions to the on state.

[0041] In addition, when the ACC function by the driving assistance control device 6 is on and the vehicle speed is equal to or higher than a predetermined speed, if the rider tilts the ACC lever 44 toward the "RES / +" side, the set vehicle speed is increased by a predetermined unit speed (for example, 1 [km / h]). Furthermore, when the ACC function by the driving assistance control device 6 is on and the vehicle speed is equal to or higher than a predetermined speed, if the rider tilts the ACC lever 44 toward the "SET / -" side, the set vehicle speed is decreased by one unit speed.

[0042] The ACC function indicator light 42 can be illuminated in a number of different colors, such as red, green, and white. The ACC function indicator light 42 is provided in a position visible to the rider while driving. When the ACC function is on and vehicle-to-vehicle distance control, which will be described later, is being executed, the ACC function indicator light is illuminated in red. When the ACC function is on and vehicle speed control, which will be described later, is being executed, the ACC function indicator light is illuminated in green. When the ACC function is in a standby state, the ACC function indicator light is illuminated in white. When the ACC function is in an off state, the ACC function indicator light is extinguished. Therefore, when the ACC main switch 43 is turned on by the rider, the ACC function indicator light is illuminated in any of red, green, and white. When the ACC main switch 43 is turned off by the rider, the ACC function indicator light is extinguished.

[0043] The navigation device 5 includes, for example, a GNSS (Global Navigation Satellite System) receiver that identifies the current position of the vehicle based on signals received from GNSS satellites, a storage device that stores map information, etc. Here, the map information also includes information about road signs. The navigation device 5 transmits information about the current position of the vehicle to the driving assistance control device 6 together with the map information of the current position.

[0044] The driving controls 81 are made up of a plurality of controls that are operated by the rider when driving the vehicle, sensors that detect the amount of operation of these controls, etc. Of these controls and sensors, only an accelerator grip 811, an accelerator position sensor 812, a brake lever switch 813, and a brake pedal switch 814 that are particularly related to the ACC function and the TSR function are shown in Figure 1.

[0045] The accelerator grip 811 can be rotated by the rider to accelerate or decelerate the vehicle. The accelerator grip 811 is located in a position where the rider can grip it with his or her right hand while driving. The accelerator grip 811 is rotatable between a fully closed position (neutral position) and a fully open position. When no external force is applied, the position of the accelerator grip 811 (hereinafter also referred to as the "accelerator position") returns to the neutral position by an elastic member (not shown). Hereinafter, the direction from the neutral position toward the fully open position is referred to as the "open direction," and the direction from the fully open position toward the neutral position is referred to as the "close direction." In other words, when the ACC function by the driving assistance control device 6 is in an off state or in a standby state, the rider can accelerate or decelerate the vehicle by rotating the accelerator grip 811 in the open direction or the close direction between the neutral position and the fully open position.

[0046] The accelerator grip 811 can be rotated between the neutral position and a minus position on the opposite side of the fully open position. In the following, the operation of rotating the accelerator grip 811 from the neutral position to the minus position is also referred to as a minus operation.

[0047] The accelerator position sensor 812 is a sensor that detects the rotation operation of the accelerator grip 811. The position sensor 812 detects the accelerator position and transmits a detection signal to the driving assistance control device 6 according to the detected value.

[0048] The brake lever switch 813 is a sensor that detects the on / off operation of a brake lever (not shown) that the rider can grip and operate with his / her right hand in order to brake the front wheel with the brake device 83. The brake lever switch 813 transmits a signal to the driving assistance control device 6 according to the on / off operation of the brake lever.

[0049] The brake pedal switch 814 is a sensor that detects the on / off operation of a brake pedal (not shown) that the rider can operate by stepping on it with his right foot in order to brake the rear wheel with the brake device 83. The brake pedal switch 814 transmits a signal to the driving assistance control device 6 according to the on / off operation of the brake pedal.

[0050] The driving force output device 82 outputs a driving force to the driving wheels for driving the vehicle. The driving force output device 82 includes a driving force source such as an internal combustion engine or a rotating electric machine, a transmission, and an electronic control unit that controls the driving force source and the transmission based on command signals sent from the driving assistance control device 6 and generates acceleration / deceleration according to the commands.

[0051] The braking device 83 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper in accordance with the amount of operation of the brake lever or brake pedal, an electric motor that generates hydraulic pressure in the cylinder, and an electronic control unit that controls the electric motor based on a command signal sent from the driving assistance control device 6 and generates braking force in accordance with the command.

[0052] The driving assistance control device 6 is a computer that controls the driving assistance functions. The driving assistance control device 6 includes an automatic driving control unit 61, a road sign recognition unit 62, a vehicle distance setting unit 63, a vehicle speed setting unit 64, and a display control unit 65 as modules that realize the ACC function and the TSR function among the multiple driving assistance functions.

[0053] When the ACC function is on, the automatic driving control unit 61 executes an automobile speed control that controls the speed of the vehicle based on a set vehicle speed set by a vehicle speed setting unit 64 described below, or an automobile distance control that automatically controls the distance to a vehicle ahead based on the set vehicle speed. Note that, hereinafter, the automobile speed control and automobile distance control performed by the automatic driving control unit 61 are collectively referred to as automatic driving control.

[0054] More specifically, when the ACC function is on, the automatic driving control unit 61 recognizes, based on forward information acquired by the external recognition device 24, a vehicle traveling ahead of the vehicle that satisfies a condition for being followed that is determined based on a set vehicle speed, as a vehicle to be followed, and follows the vehicle to be followed by automatically controlling the inter-vehicle distance from the vehicle to be followed. More specifically, when the ACC function is on and the automatic driving control unit 61 can recognize a vehicle to be followed based on forward information, the automatic driving control unit 61 operates the driving force output device 82 and the brake device 83 so that the inter-vehicle distance from the vehicle to be followed becomes a target inter-vehicle distance that is sequentially set by the inter-vehicle distance setting unit 63 described below, and performs inter-vehicle distance control to follow the vehicle to be followed.

[0055] Furthermore, when the ACC function is on but the automatic driving control unit 61 cannot recognize the above-mentioned vehicle to be followed based on the forward information acquired by the external recognition device 24, the automatic driving control unit 61 automatically controls the vehicle speed identified by the vehicle sensor unit 3. More specifically, when the ACC function is on and the automatic driving control unit 61 cannot recognize the vehicle to be followed based on the forward information, the automatic driving control unit 61 executes automobile speed control that operates the driving drive force output device 82 and the brake device 83 so that the vehicle speed becomes the set vehicle speed.

[0056] Here, cases where the vehicle to be followed cannot be recognized based on the forward information include cases where there is no vehicle ahead of the host vehicle within a range recognizable by the external recognition device 24, as well as cases where a vehicle ahead is present within a range recognizable by the external recognition device 24 but does not satisfy the following target condition. In this embodiment, the following target condition is, for example, when the inter-vehicle distance to the vehicle ahead is less than a predetermined set distance and the vehicle speed of the vehicle ahead is less than a set vehicle speed. That is, even if a vehicle ahead is present within a range recognizable by the external recognition device 24, the automatic driving control unit 61 does not recognize the vehicle ahead as a vehicle to be followed if the vehicle ahead is more than a set distance from the host vehicle or if the vehicle ahead is traveling at a speed greater than or equal to the set vehicle speed. Therefore, while performing inter-vehicle distance control and following the vehicle to be followed, the vehicle speed does not steadily exceed the set vehicle speed.

[0057] As described above, while the automatic driving control unit 61 is executing the automatic driving speed control, it automatically controls the host vehicle speed with the set vehicle speed as the target. Therefore, even while the automatic driving speed control is being executed, the host vehicle speed will not steadily exceed the set vehicle speed. Therefore, while the automatic driving control unit 61 is executing the automatic driving control, the host vehicle speed will not steadily exceed the set vehicle speed, and the host vehicle speed will not automatically accelerate beyond the set vehicle speed.

[0058] The road sign recognition unit 62 recognizes road signs set for the road on which the vehicle is traveling, based on forward information acquired by the external recognition device 24, current position information of the vehicle, map information, etc. transmitted from the navigation device 5. The road sign recognition unit 62 transmits information related to the recognized road sign to the display control unit 65 and the vehicle speed setting unit 64. Furthermore, if the recognized road sign is a sign that regulates the vehicle speed, the road sign recognition unit 62 recognizes the speed specified by this sign (for example, the maximum speed) and transmits the recognized speed to the vehicle speed setting unit 64 as the prescribed speed.

[0059] When the ACC function is on, the inter-vehicle distance setting unit 63 sets a target inter-vehicle distance in inter-vehicle distance control by the automatic driving control unit 61. More specifically, the inter-vehicle distance setting unit 63 sets the target inter-vehicle distance based on forward information acquired by the external recognition device 24 and the detection results of the vehicle sensor unit 3. More specifically, the inter-vehicle distance setting unit 63 calculates the vehicle speed of the vehicle to be followed and the actual inter-vehicle distance between the vehicle and the vehicle to be followed based on the forward information, and further sets the target inter-vehicle distance so that it increases as the vehicle speed of the vehicle to be followed increases. The inter-vehicle distance setting unit 63 transmits information about the set target inter-vehicle distance to the automatic driving control unit 61.

[0060] When the ACC function is on, the vehicle speed setting unit 64 sets the set vehicle speed for automatic driving control by the automatic driving control unit 61, and transmits information regarding the set vehicle speed to the automatic driving control unit 61 and the display control unit 65.

[0061] Here, the vehicle speed setting unit 64 is capable of setting and changing the set vehicle speed in either the manual mode or the TSR-linked mode.

[0062] In the manual mode, the vehicle speed setting unit 64 sets or changes the set vehicle speed based on the rider's operation of the HMI 4 (particularly, the ACC lever 44). More specifically, when the vehicle speed setting unit 64 detects that the ACC lever 44 has been tilted to the “SET / −” side while the ACC function is in standby mode, it sets the current vehicle speed as the set vehicle speed. When the vehicle speed setting unit 64 detects that the ACC lever 44 has been tilted to the “RES / +” side while the ACC function is in standby mode, it sets the value stored in memory as the set vehicle speed. When the vehicle speed setting unit 64 detects that the ACC lever 44 has been tilted to the “RES / +” side while the ACC function is on and the vehicle speed is equal to or higher than a predetermined speed, it increases the set vehicle speed by a unit speed. When the vehicle speed setting unit 64 detects that the ACC lever 44 has been tilted to the “SET / −” side while the ACC function is on and the vehicle speed is equal to or higher than a predetermined speed, it decreases the set vehicle speed by a unit speed. Therefore, the rider can set or change a new set vehicle speed by operating the ACC lever 44.

[0063] In the TSR-linked mode, the vehicle speed setting unit 64 automatically changes the set vehicle speed based on the recognition result by the road sign recognition unit 62. More specifically, when the ACC function is on and the current set vehicle speed differs from the specified speed recognized by the road sign recognition unit 62, the vehicle speed setting unit 64 changes the set vehicle speed to match the specified speed after obtaining approval from the rider. Note that a specific procedure for changing the set vehicle speed in this TSR-linked mode will be described in detail later with reference to FIG. 5.

[0064] The display control unit 65 notifies the rider of information regarding the TSR function and the ACC function by displaying on the display 41 information regarding the TSR function provided by the road sign recognition unit 62 and information regarding the ACC function provided by the automatic driving control unit 61, the inter-vehicle distance setting unit 63, and the vehicle speed setting unit 64.

[0065] 2A to 2C are diagrams showing examples of images displayed on the display 41 under the control of the display control unit 65. As shown in the example of Fig. 2A to 2C, if the display 41 is divided into a right area 41R on the right side as seen by the rider, a left area 41L on the left side as seen by the rider, and a central area 41C between the right area 41R and the left area 41L, information relating to the TSR function is mainly displayed in the right area 41R, and information relating to the ACC function is mainly displayed in the left area 41L.

[0066] 2A is a diagram showing an example of an image displayed on the display 41 when the ACC function is off and the TSR function is on. As shown in FIG. 2A, when the ACC function is off, the display control unit 65 displays nothing in the left area 41L and displays information related to the TSR function in the right area 41R. As shown in FIG. 2A, the display control unit 65 displays the recognition result of the road sign recognition unit 62, more specifically, the image of the road sign recognized by the road sign recognition unit 62, in the right area 41R as information related to the TSR function. Note that the examples of FIGS. 2A to 2C show a case where the road sign recognition unit 62 recognizes a regulatory sign indicating that the maximum speed on the road on which the host vehicle is traveling is 100 km / h.

[0067] 2B is a diagram showing an example of an image displayed on the display 41 when the ACC function is on and the TSR function is on. As shown in Fig. 2B, when the ACC function is on, the display control unit 65 displays the current set vehicle speed (in the example of Fig. 2B, the set vehicle speed is 100 [km / h]) together with icons showing the speedometers of the vehicle ahead and the vehicle in the left area 41L.

[0068] 2C is a diagram showing an example of an image displayed on the display 41 when the ACC function is on standby and the TSR function is on. As shown in FIG. 2C, when the ACC function is on standby, the display control unit 65 displays only icons representing the speedometers of the vehicle ahead and the vehicle in the left area 41L. In other words, when the ACC function is on standby, the display control unit 65 does not display the set vehicle speed.

[0069] Fig. 3 is a flowchart showing a specific procedure for controlling automatic driving by the automatic driving control unit 61. The process shown in Fig. 3 is repeatedly executed by the automatic driving control unit 61 at a predetermined control period while the ACC main switch 43 of the HMI 4 is turned on, that is, while the driver indicates his / her intention to turn on the ACC function. Note that each step shown in Fig. 3 is realized by the automatic driving control unit 61 executing a computer program stored in a storage device (not shown) while the ACC main switch 43 is turned on.

[0070] First, in step ST1, the automatic driving control unit 61 executes a status flag update process to update the value of the status flag, and then proceeds to step ST2.

[0071] Here, the status flag is a flag that indicates the status of the ACC function, and can take on any of the values ​​"0", "1", and "2". A status flag value of "0" indicates that the ACC function is on. A status flag value of "1" indicates that the ACC function is on standby. A status flag value of "2" indicates that the ACC function is on temporary standby. The value of this status flag is set to "1" immediately after the ACC main switch 43 is turned on.

[0072] FIG. 4 is a flowchart showing a specific procedure for the status flag update process.

[0073] First, in step ST31, the automatic driving control unit 61 determines whether the value of the current state flag is 2. If the determination result in step ST31 is YES, the automatic driving control unit 61 proceeds to step ST51, which will be described later, and if the determination result is NO, the automatic driving control unit 61 proceeds to step ST32.

[0074] In step ST32, the automatic traveling control unit 61 determines whether the value of the current state flag is 0. If the determination result in step ST32 is YES, the automatic traveling control unit 61 proceeds to step ST33, and if the determination result is NO, the automatic traveling control unit 61 proceeds to step ST41, which will be described later.

[0075] In step ST33, the automatic traveling control unit 61 determines whether or not an ACC release operation by the rider has been detected. Here, the ACC release operation refers to an operation performed by the rider to switch the ACC function from an ON state to a standby state, and includes, for example, a minus operation of the accelerator grip 811, an ON operation of the brake lever, and an ON operation of the brake pedal. The automatic traveling control unit 61 determines whether or not an ACC release operation has been detected based on the detection signals of the accelerator position sensor 812, the brake lever switch 813, and the brake pedal switch 814. If the determination result in step ST33 is YES, that is, if the automatic traveling control unit 61 has detected an ACC release operation when the ACC function is ON, the automatic traveling control unit 61 proceeds to step ST42 and changes the value of the status flag from "0" to "1." This causes the ACC function to transition from an ON state to a standby state.

[0076] Furthermore, if the determination result of step ST33 is NO, the automatic traveling control unit 61 proceeds to step ST34. In step ST34, the automatic traveling control unit 61 determines whether the value of an approval waiting flag, which will be described later, is "1." As will be described later with reference to FIG. 5, this approval waiting flag is a flag that indicates that the automatic traveling control unit 61 is waiting for approval from the rider for a change in the set vehicle speed based on the recognition result by the road sign recognition unit 62, and is updated by a set vehicle speed change process (see FIG. 5), which will be described later, in the vehicle speed setting unit 64. If the determination result of step ST34 is NO, the automatic traveling control unit 61 proceeds to step ST35.

[0077] In step ST35, the automatic traveling control unit 61 determines whether or not an accelerator ON operation has been detected. Here, an accelerator ON operation refers to an operation in which the rider rotates the accelerator grip to change the accelerator position from the fully closed position to the fully open position. If the determination result in step ST35 is YES, that is, if the rider performs an accelerator ON operation while the ACC function is in the ON state, the automatic traveling control unit 61 proceeds to step ST52 and changes the value of the state flag from "0" to "2." This causes the ACC function to temporarily transition from the ON state to a standby state, allowing the rider to accelerate the vehicle based on the operation of the accelerator grip.

[0078] Furthermore, if the determination result in step ST35 is NO, that is, if neither the ACC release operation nor the accelerator ON operation is detected when the ACC function is ON, the automatic driving control unit 61 proceeds to step ST37 and maintains the value of the state flag at 0. Therefore, if neither the ACC release operation nor the accelerator ON operation for a set time or longer is detected when the ACC function is ON, the automatic driving control unit 61 maintains the ACC function in the ON state.

[0079] If the determination result of step ST34 is YES, i.e., if the value of the approval waiting flag is “1,” the automatic traveling control unit 61 proceeds to step ST36. In step ST36, the automatic traveling control unit 61 determines whether or not an accelerator pedal depression has been detected for a set time or longer. If the determination result of step ST36 is YES, i.e., if the rider continues to depression of the accelerator pedal for a set time or longer while the ACC function is on and in the approval waiting state described below, the automatic traveling control unit 61 proceeds to step ST52 and changes the value of the status flag from “0” to “2.” This temporarily transitions the ACC function from the on state to a standby state, allowing the rider to accelerate the vehicle based on the rider’s own accelerator grip operation. On the other hand, if the determination result of step ST36 is NO, the automatic traveling control unit 61 proceeds to step ST37 and maintains the value of the status flag at “0.” As described above, when the ACC function is on and in the approval waiting state described below, the rider can accelerate the vehicle based on the rider’s own accelerator grip operation by continuing to depression of the accelerator pedal for a set time or longer.

[0080] In step ST41, the automatic traveling control unit 61 determines whether or not an ACC activation operation by the rider has been detected. Here, the ACC activation operation refers to an operation performed by the rider to switch the ACC function from standby to on, and includes, for example, tilting the ACC lever 44. If the determination result in step ST41 is YES, that is, if the automatic traveling control unit 61 detects an ACC activation operation when the ACC function is in standby, the automatic traveling control unit 61 proceeds to step ST37 and changes the value of the status flag from "1" to "0." This switches the ACC function from standby to on.

[0081] Furthermore, if the determination result in step ST41 is NO, that is, if the automatic driving control unit 61 does not detect an ACC start operation when the ACC function is in a standby state, the automatic driving control unit 61 proceeds to step ST42 and maintains the value of the status flag at 1. Therefore, if the automatic driving control unit 61 does not detect an ACC start operation when the ACC function is in a standby state, the automatic driving control unit 61 maintains the ACC function in an ON state.

[0082] In step ST51, the automatic traveling control unit 61 determines whether the accelerator ON operation is continuing. That is, in the above-mentioned step ST35 or step ST36, the automatic traveling control unit 61 determines whether the accelerator ON operation has been detected continuously since it was first detected while the ACC function was in the ON state. If the determination result in step ST51 is YES, the automatic traveling control unit 61 proceeds to step ST52 and maintains the value of the state flag at "2."

[0083] If the determination result in step ST51 is NO, i.e., if the automatic driving control unit 61 detects an operation to return the accelerator grip to the fully closed position, the automatic driving control unit 61 proceeds to step ST37 and changes the value of the state flag from “2” to “0.” This causes the ACC function to transition from a temporary standby state to an ON state. As described above, if the automatic driving control unit 61 detects an accelerator ON operation while the ACC function is ON, the automatic driving control unit 61 temporarily puts the ACC function into a standby state while continuing to detect the accelerator ON operation. Furthermore, if the automatic driving control unit 61 detects an operation to return the accelerator grip to the fully closed position after temporarily putting the ACC function into a standby state, the automatic driving control unit 61 automatically puts the ACC function into an ON state. Therefore, if the rider turns on the ACC function and is following a vehicle ahead using the vehicle-to-vehicle distance control described below and attempts to overtake the vehicle ahead, the rider can temporarily put the ACC function into a standby state and accelerate the vehicle by simply rotating the accelerator grip without performing the ACC release operation described above. Furthermore, if the ACC function is temporarily put into standby mode in this way and the rider overtakes a vehicle in front, the ACC function can be automatically turned back on by simply returning the accelerator grip to the fully closed position without having to go through the ACC activation operation described above.

[0084] Returning to FIG. 3, in step ST2, the automatic driving control unit 61 determines whether the value of the status flag is "1" or "2", that is, whether the ACC function is in a standby state.

[0085] If the determination result in step ST2 is NO, that is, if the ACC function is on, the automatic driving control unit 61 proceeds to step ST3. In step ST3, the automatic driving control unit 61 acquires forward information regarding the state ahead of the vehicle from the external recognition device 24, and further acquires the current set vehicle speed from the vehicle speed setting unit 64, and proceeds to step ST4.

[0086] Next, in step ST3, the automatic traveling control unit 61 acquires the current set vehicle speed from the vehicle speed setting unit 64, and proceeds to step ST4.

[0087] In step ST4, the automatic driving control unit 61 determines whether or not it can recognize the vehicle to be followed based on the forward information and the set vehicle speed acquired in step ST3. In other words, the automatic driving control unit 61 determines, based on the forward information acquired from the external recognition device 24, whether or not there is a vehicle ahead traveling ahead of the host vehicle and whether or not this vehicle ahead satisfies the condition to be followed that is determined based on the set vehicle speed.

[0088] If the determination result in step ST4 is YES, that is, if the target vehicle can be recognized, the automatic traveling control unit 61 proceeds to step ST5 and executes inter-vehicle distance control. More specifically, in step ST5, the automatic traveling control unit 61 acquires the current target inter-vehicle distance from the inter-vehicle distance setting unit 63, and proceeds to step ST6.

[0089] In step ST6, the automatic driving control unit 61 calculates acceleration / deceleration command values ​​based on a known feedback algorithm so that the actual inter-vehicle distance to the target vehicle becomes the target inter-vehicle distance, and then proceeds to step ST7.

[0090] In step ST7, the automatic driving control unit 61 turns on the ACC function indicator light 42 in red to clearly indicate that inter-vehicle distance control is currently being executed, and then proceeds to step ST20.

[0091] On the other hand, if the judgment result in step ST4 is NO, i.e., if the vehicle to be followed cannot be recognized (i.e., if there is no vehicle ahead or the vehicle ahead does not satisfy the conditions for being followed), the automatic driving control unit 61 proceeds to step ST10 and performs automobile speed control.

[0092] In step ST10, the automatic driving control unit 61 calculates an acceleration / deceleration instruction value based on a known feedback algorithm so that the vehicle speed determined by the vehicle sensor unit 3 becomes the set vehicle speed acquired in step ST3, and then proceeds to step ST11.

[0093] In step ST11, the automatic driving control unit 61 turns on the ACC function indicator light 42 in green to clearly indicate that the automatic driving control is currently being executed, and then proceeds to step ST20.

[0094] In step ST20, the automatic traveling control unit 61 executes vehicle distance control or vehicle speed control, and ends the processing shown in Fig. 3. More specifically, the automatic traveling control unit 61 operates the traveling drive force output device 82 and the brake device 83 based on the acceleration / deceleration command value calculated in step ST6 or step ST10, and ends the processing shown in Fig. 3.

[0095] Also, if the determination result in step ST2 is YES, that is, if the ACC function is in a standby state, the automatic traveling control unit 61 proceeds to step ST15. In step ST15, the automatic traveling control unit 61 turns on the ACC function indicator light 42 in white to clearly indicate that the ACC function is currently in a standby state, and ends the processing shown in Fig. 3. As described above, when the ACC function is in a standby state, the automatic traveling control unit 61 does not execute automatic traveling control such as vehicle-to-vehicle distance control and vehicle speed control shown in step ST20, so the rider can accelerate or decelerate their own vehicle based on the rotational operation of their own accelerator grip.

[0096] Fig. 5 is a flowchart showing the specific steps of the process for changing the set vehicle speed in the TSR-linked mode. The process shown in Fig. 5 is repeatedly executed by the vehicle speed setting unit 64 at a predetermined control cycle while the ACC function by the automatic driving control unit 61 is on, in other words, while the automatic driving control unit 61 is performing automatic driving control (including inter-vehicle distance control and automatic vehicle speed control) based on the set vehicle speed. Note that each step shown in Fig. 5 is realized by the vehicle speed setting unit 64 executing a computer program stored in a storage device (not shown) while the ACC function is on.

[0097] First, in step ST61, the vehicle speed setting unit 64 acquires the recognition result of the road sign by the road sign recognition unit 62, and then the process proceeds to step ST62.

[0098] In step ST62, the vehicle speed setting unit 64 acquires the specified speed determined for the road on which the vehicle is traveling from the recognition result obtained by the road sign recognition unit 62 in step ST61, and then the process proceeds to step ST63.

[0099] In step ST63, the vehicle speed setting unit 64 determines whether the specified speed acquired in step ST62 has been updated since the previous control cycle. If the determination result in step ST63 is YES, the vehicle speed setting unit 64 proceeds to step ST64, sets the value of the approval waiting flag to "1", and then proceeds to step ST65. If the determination result in step ST63 is NO, the vehicle speed setting unit 64 proceeds to step ST65 while maintaining the value of the approval waiting flag from the value in the previous control cycle. This approval waiting flag is a flag that indicates that the vehicle speed setting unit 64 is currently in an approval waiting state, that is, a state in which the vehicle speed setting unit 64 is waiting for approval from the rider for a change in the set vehicle speed based on the recognition result. For this reason, the vehicle speed setting unit 64 sets the value of the approval waiting flag to "1" every time the specified speed is updated (see step ST64), and resets the value to "0" every time an approval operation or a denial operation (described later) is detected (see step ST71 described later).

[0100] In step ST65, the vehicle speed setting unit 64 determines whether the current set vehicle speed is equal to the specified speed acquired in step ST62. If the determination result in step ST65 is YES, the vehicle speed setting unit 64 ends the processing shown in Fig. 5. If the determination result in step ST65 is NO, that is, if the current set vehicle speed and the specified speed are different, the vehicle speed setting unit 64 proceeds to step ST66.

[0101] In step ST66, the vehicle speed setting unit 64 determines whether the value of the approval waiting flag is "0." If the determination result in step ST66 is YES, that is, if the vehicle is not in the approval waiting state, the vehicle speed setting unit 64 ends the processing shown in Fig. 5. If the determination result in step ST66 is NO, that is, if the vehicle is in the approval waiting state, the vehicle speed setting unit 64 proceeds to step ST67.

[0102] In step ST67, the vehicle speed setting unit 64 transmits an approval waiting image display command to the display control unit 65, and the process proceeds to step ST68.

[0103] Fig. 6 is a diagram showing an example of an image displayed on the display 41 based on the approval-waiting image display command issued in step ST67. The example in Fig. 6 shows a case where the currently set vehicle speed is 100 [km / h] and a regulatory sign indicating that the maximum speed on the road on which the vehicle is traveling is 80 [km / h] is recognized by the road sign recognition unit 62. As shown in Fig. 6, when the display control unit 65 receives the approval-waiting image display command from the vehicle speed setting unit 64, it displays an approval-waiting image in the center area 41C together with information related to the ACC function (see left area 41L) and information related to the TSR function (right area 41R).

[0104] As will be explained below, when the current set vehicle speed differs from the specified speed, the rider can change the set vehicle speed to match the specified speed by operating the accelerator grip for approval. The approval-waiting image shown on the display 41 based on the approval-waiting image display command suggests that the set vehicle speed can be changed to match the specified speed by operating the accelerator grip. Therefore, this approval-waiting image includes an image 6a of an arrow extending from the maximum speed recognized by the TSR function to the set vehicle speed (an image suggesting that the set vehicle speed can be changed to match the specified speed) and an image 6b prompting the rider to operate the accelerator grip.

[0105] Returning to FIG. 5, in step ST68, the vehicle speed setting unit 64 determines whether or not a rotation operation of the accelerator grip in a predetermined approval pattern (hereinafter also referred to as an "approval operation") has been detected based on the detection signal of the accelerator position sensor 812. More specifically, the "approval operation" here refers to an operation in which the accelerator grip is rotated from the fully closed position to the open direction and then to the closed direction a predetermined first set number of times within the set time defined in step ST36 of FIG. 4. Note that in this embodiment, the first set number of times is described as "1," but the present invention is not limited to this. The first set number of times may be "2" or more.

[0106] If the determination result in step ST68 is YES, the vehicle speed setting unit 64 proceeds to step ST70. In step ST70, the vehicle speed setting unit 64 changes the set vehicle speed based on the recognition result acquired in step ST61, and proceeds to step ST71. More specifically, the vehicle speed setting unit 64 changes the set vehicle speed to a value equal to the specified speed acquired in step ST62.

[0107] If the determination result in step ST68 is NO, the vehicle speed setting unit 64 proceeds to step ST69. In step ST69, the vehicle speed setting unit 64 determines whether or not a rotation operation of the accelerator grip in a predetermined denial pattern (hereinafter also referred to as a "denial operation") has been detected, based on the detection signal of the accelerator position sensor 812. More specifically, the "denial operation" here refers to an operation of opening or closing the accelerator grip a second set number of times, which is greater than the first set number of times, within the set time defined in step ST36 of FIG. 4. Note that in this embodiment, the second set number of times is described as "2," but the present invention is not limited to this. The second set number of times may be any number greater than the first set number of times, and therefore may be "3" or more.

[0108] If the determination result in step ST69 is YES, the vehicle speed setting unit 64 skips step ST70 and proceeds to step ST71. That is, if the vehicle speed setting unit 64 detects a denial operation, the vehicle speed setting unit 64 maintains the set vehicle speed. That is, if the vehicle speed setting unit 64 detects a denial operation, the vehicle speed setting unit 64 does not change the set vehicle speed based on the recognition result acquired in step ST61.

[0109] If the determination result in step ST69 is NO, that is, if neither an approval operation nor a denial operation is detected, the vehicle speed setting unit 64 maintains the set vehicle speed and ends the processing of FIG.

[0110] In step ST71, the vehicle speed setting unit 64 resets the value of the approval waiting flag to "0" in response to detecting an approval operation or a denial operation, and proceeds to step ST72. In step ST72, the vehicle speed setting unit 64 transmits an approval waiting image deletion command to the display control unit 65, and ends the processing shown in Fig. 5. In response to receiving this approval waiting image deletion command, the display control unit 65 deletes the approval waiting image on the display 41. Therefore, after detecting an approval operation or a denial operation by the rider, the approval waiting image will not be displayed on the display 41 until the specified speed is updated thereafter.

[0111] Next, a specific example of the set vehicle speed change process in the TSR-linked mode will be described with reference to the time charts shown in FIGS.

[0112] Fig. 7 is a time chart when the rider performs an approval operation in the approval waiting state. Fig. 8 is a time chart when the rider performs a denial operation in the approval waiting state. Fig. 9 is a time chart when the rider performs neither an approval operation nor a denial operation in the approval waiting state. Figs. 7 to 9 each show, from the top to the bottom, the state of the ACC function, the value of the approval waiting flag, the recognition result of the road sign by the road sign recognition unit 62, the accelerator position, the driving force, and the set vehicle speed.

[0113] 7 shows a case where the automatic driving control unit 61 transitions the ACC function from standby to ON at time t1 and starts vehicle speed control based on the set vehicle speed. The road sign recognition unit 62 recognizes a regulatory sign specifying a maximum speed of 100 km / h between time t0 and time t4, and then recognizes a regulatory sign specifying a maximum speed of 80 km / h after time t4. The vehicle speed setting unit 64 sets the set vehicle speed to 100 km / h at time t0.

[0114] First, the time chart of FIG. 7 will be described. As shown in FIG. 7, between times t0 and t1 when the ACC function is in standby mode, a driving force corresponding to the rider's operation of the accelerator grip is generated. At time t1, the automatic driving control unit 61 also starts vehicle speed control to maintain the vehicle speed at a set vehicle speed (100 km / h). Therefore, even if the rider returns the accelerator grip to the fully closed position after time t1, a driving force necessary to maintain the vehicle speed at the set vehicle speed is generated. The rider also opens and closes the accelerator grip between times t2 and t3. As shown in step ST35 of FIG. 4, if the accelerator grip is turned on while the ACC function is in the on state, the ACC function temporarily transitions to standby mode. Therefore, as shown in FIG. 7, between times t2 and t3, a driving force corresponding to the opening and closing of the accelerator grip is generated.

[0115] Subsequently, at time t4, the maximum speed limit of the regulatory sign recognized by the road sign recognition unit 62 changes from 100 [km / h] to 80 [km / h]. Therefore, at time t4, the vehicle speed setting unit 64 sets the value of the approval waiting flag from "0" to "1." Furthermore, the set vehicle speed at time t4 is 100 [km / h], which differs from the regulatory speed recognized by the road sign recognition unit 62 at that time. Therefore, from time t4, the vehicle speed setting unit 64 transitions to a state of waiting for the rider's approval for the change in the set vehicle speed based on the recognition result by the road sign recognition unit 62 (see step ST64 in FIG. 5). Furthermore, as a result, from time t4 onwards, an approval waiting image such as that shown in FIG. 6 is displayed on the display 41.

[0116] Thereafter, the rider performs an opening / closing operation of the accelerator grip once between time t5 and time t6, when the set time has elapsed. That is, the vehicle speed setting unit 64 detects that an approval operation has been performed between time t5 and time t6 (see step ST68 in FIG. 5). As shown in steps ST34 to ST36 in FIG. 4, when the automatic driving control unit 61 is in the approval waiting state, it continues automatic driving control unless the accelerator is pressed for a set time or longer. Therefore, the driving force does not change due to the approval operation of the accelerator grip between time t5 and t6. Furthermore, as shown in FIG. 7, in response to detecting the approval operation at time t6, the vehicle speed setting unit 64 changes the set vehicle speed from 100 [km / h] to 80 [km / h] (see step ST70 in FIG. 5), resets the value of the approval waiting flag to "0" (see step ST71 in FIG. 5), and erases the approval waiting image (see step ST72 in FIG. 5).

[0117] Next, we will explain the time chart of Fig. 8. Note that events occurring between times t10 and t15 in the time chart shown in Fig. 8 are the same as events occurring between times t1 and t5 in the time chart shown in Fig. 7 above, so detailed explanations will be omitted.

[0118] In the example shown in Fig. 8, the rider performs an opening and closing operation of the accelerator grip twice between time t15 and time t16, when the set time has elapsed. That is, the vehicle speed setting unit 64 detects that a denial operation has been performed between time t15 and time t16 (see step ST69 in Fig. 5). At this time, for the same reason as in the example shown in Fig. 7, the driving force does not change between time t15 and time t16. Furthermore, as shown in Fig. 8, in response to detecting the denial operation at time t16, the vehicle speed setting unit 64 maintains the set vehicle speed at 100 [km / h], resets the value of the approval waiting flag to "0" (see step ST71 in Fig. 5), and erases the approval waiting image (see step ST72 in Fig. 5).

[0119] Next, we will explain the time chart of Fig. 9. Note that events occurring between times t20 and t25 in the time chart shown in Fig. 9 are the same as events occurring between times t1 and t5 in the time chart shown in Fig. 7 above, so detailed explanations will be omitted.

[0120] In the example shown in FIG. 9, the rider continues to operate the accelerator from time t25. Therefore, at time t26, which is a set time after time t25, the automatic driving control unit 61 determines that the accelerator has been operated for more than the set time (see step ST36 in FIG. 4), and temporarily puts the ACC function into standby mode. Therefore, from time t26 onwards, the driving force increases. Note that, since the vehicle speed setting unit 64 has not detected either an approval operation or a denial operation from time t24 onwards, the value of the approval waiting flag remains at "1" and the approval waiting state continues.

[0121] The driving assistance system 1 according to this embodiment has the following advantages.

[0122] (1) The driving assistance system 1 includes an accelerator grip 811 that can be rotated by the rider, an accelerator position sensor 812 that detects the rotation of the accelerator grip 811, an automatic driving control unit 61 that automatically controls the vehicle speed or the inter-vehicle distance based on a set vehicle speed, and a road sign recognition unit 62 that recognizes the specified speed set for the road on which the vehicle is traveling. Therefore, according to the driving assistance system 1, while the automatic driving control unit 61 is executing automatic driving control based on the set vehicle speed, the rider only needs to hold the accelerator grip 811 with his or her own hand, and there is no need for the rider to rotate the accelerator grip 811 and maintain it at a predetermined accelerator position, which is convenient. Furthermore, while the automatic driving control unit 61 is executing automatic driving control based on the set vehicle speed, that is, while the rider does not need to actively rotate the accelerator grip 811 as described above, the vehicle speed setting unit 64 changes the set vehicle speed based on the recognition result of the road sign recognition unit 62 in response to the accelerator position sensor 812 detecting a rotation of a predetermined pattern while the automatic driving control unit 61 is executing automatic driving control based on the set vehicle speed. In this way, the driving assistance system 1 uses the accelerator grip 811, which does not need to be actively used while automatic driving control is being executed, as an operator that the rider operates when approving a change in the set vehicle speed based on the recognition result of the road sign recognition unit 62, thereby eliminating the need to provide a new switch. Furthermore, with the driving assistance system 1, the rider can easily approve a change in the set vehicle speed while automatic driving control is being executed by simply rotating the accelerator grip 811 in a predetermined pattern while holding it. Therefore, with the driving assistance system 1, the rider does not need to take their hands off the accelerator grip 811 or check the location of a switch at hand while driving, which reduces the burden on the rider and ultimately improves traffic safety.

[0123] (2) When the accelerator position sensor 812 detects a rotation operation of a predetermined approval pattern, the vehicle speed setting unit 64 changes the set vehicle speed based on the recognition result, and when the accelerator position sensor 812 detects a rotation operation of a predetermined rejection pattern, the set vehicle speed is maintained without being changed based on the recognition result. Thus, according to the driving assistance system 1, the rider can approve or reject the change in the set vehicle speed based on the recognition result by simply performing a rotation operation of an approval pattern or a rejection pattern while holding the accelerator grip 811 during execution of automatic driving control.

[0124] (3) While automatic driving control is being executed, the rider can approve or reject a change in the set vehicle speed simply by opening or closing the accelerator grip 811 within a predetermined set time. In many saddle-ride type vehicles, there is a delay between turning the accelerator grip 811 and the vehicle actually starting to accelerate. For this reason, riders who intend to accelerate their own vehicle often keep the accelerator grip 811 open for more than a predetermined time. Therefore, the driving assistance system 1 can distinguish between an operation of the accelerator grip 811 based on the rider's intention to accelerate, an operation of the accelerator grip 811 based on the rider's intention to approve, and an operation of the accelerator grip 811 based on the rider's intention to reject.

[0125] (4) In the driving assistance system 1, if the accelerator position sensor 812 detects an operation to maintain the opening of the accelerator grip 811 on the open side for a set time or longer while the automatic driving control is being executed, the automatic driving control unit 61 stops the execution of the automatic driving control and allows the host vehicle speed to accelerate beyond the set vehicle speed. Therefore, if the rider attempts to accelerate the host vehicle beyond the set vehicle speed for some reason while the automatic driving control based on the set vehicle speed is being executed, the rider only needs to maintain the accelerator grip 811 on the open side for a set time or longer, which is highly convenient.

[0126] (5) The vehicle speed setting unit 84 maintains the set vehicle speed when neither the approval pattern rotation operation nor the denial pattern rotation operation is detected by the accelerator position sensor 812. This prevents the rider from unintentionally changing the set vehicle speed and thus prevents the vehicle speed from suddenly changing.

[0127] (6) In the driving assistance system 1, when the automatic driving control unit 61 can recognize a vehicle to be followed that is determined based on a set vehicle speed, it follows the vehicle to be followed by automatically controlling the distance between the vehicle and the vehicle to be followed, and when the automatic driving control unit 61 cannot recognize the vehicle to be followed, it automatically controls the vehicle speed so that the vehicle speed becomes the set vehicle speed. As described above, the driving assistance system 1 is highly convenient because the set vehicle speed in the function of automatically following a vehicle to be followed that is determined based on a set vehicle speed and the function of maintaining the vehicle speed at the set vehicle speed can be changed based on the rotational operation of the accelerator grip 811.

[0128] (7) The driving assistance system 1 further includes a display 41 that displays the set vehicle speed and the specified speed. Therefore, the driving assistance system 1 allows the rider to easily recognize the degree of deviation between the set vehicle speed and the specified speed, and therefore, the rider can easily determine whether to approve a change in the set vehicle speed based on the recognition result.

[0129] (8) In the driving assistance system 1, when the set vehicle speed differs from the specified speed, the vehicle speed setting unit 64 displays an approval waiting image on the display 41, which indicates that the set vehicle speed can be changed to match the specified speed by operating the accelerator grip 811. This allows the rider to easily understand that the set vehicle speed can be changed simply by operating the accelerator grip 811.

[0130] Although one embodiment of the present invention has been described above, the present invention is not limited to this, and the detailed configuration may be modified as appropriate within the scope of the spirit of the present invention. [Explanation of symbols]

[0131] 1. Driving assistance system 2...External sensor unit (forward information acquisition means) 3...Vehicle sensor unit 4. HMI 5. Navigation device 6...Driver assistance control device 61...Automatic driving control unit (automatic driving control means) 62...Road sign recognition unit (regulated speed recognition means) 63...Vehicle distance setting unit 64...Vehicle speed setting section (vehicle speed setting means) 65...Display control unit 81...Driving controls 811...Accelerator grip 812...Accelerator position sensor (accelerator sensor)

Claims

1. an accelerator grip that can be rotated by a rider to accelerate or decelerate the vehicle, which is a saddle-type vehicle; an accelerator sensor that detects a rotation operation of the accelerator grip; An automatic driving control means for automatically controlling a vehicle speed or a vehicle-to-vehicle distance based on a set vehicle speed, a speed limit recognition means for recognizing a speed limit set for a road on which the vehicle is traveling; a vehicle speed setting means for changing the set vehicle speed based on the recognition result of the specified speed recognition means in response to the accelerator sensor detecting a rotation operation of a predetermined pattern while executing automatic driving control based on the set vehicle speed.

2. The vehicle speed setting means When the accelerator sensor detects a rotation operation of a predetermined approval pattern, the set vehicle speed is changed based on the recognition result; 2. The driving assistance system according to claim 1, wherein the set vehicle speed is maintained when the accelerator sensor detects a rotation operation of a predetermined denial pattern.

3. The rotation operation of the approval pattern is an operation of performing an opening / closing operation of rotating the accelerator grip in an opening direction and then in a closing direction a first set number of times within a set time, 3. The driving assistance system according to claim 2, wherein the rotation operation of the denial pattern is an operation of performing the opening / closing operation a second set number of times, which is greater than the first set number of times, within the set time.

4. The driving assistance system according to claim 3, characterized in that, when the accelerator sensor detects an operation of maintaining the opening of the accelerator grip on the open side for more than the set time while the automatic driving control is being executed, the automatic driving control means stops execution of the automatic driving control and allows the vehicle speed to accelerate beyond the set vehicle speed.

5. A driving assistance system as described in any one of claims 2 to 4, characterized in that the vehicle speed setting means maintains the set vehicle speed when the accelerator sensor detects neither the approval pattern rotation operation nor the denial pattern rotation operation.

6. further comprising forward information acquisition means for acquiring forward information relating to a state ahead of the host vehicle; A driving assistance system as described in any one of claims 1 to 5, characterized in that when the automatic driving control means can recognize a vehicle to be followed, which is a vehicle ahead that satisfies the following target conditions determined based on the set vehicle speed, based on the forward information, it follows the vehicle to be followed by automatically controlling the distance between the vehicle and the vehicle to be followed, and when the automatic driving control means cannot recognize the vehicle to be followed based on the forward information, it automatically controls the vehicle speed so that the vehicle speed becomes the set vehicle speed.

7. 7. The driving assistance system according to claim 1, further comprising a display unit that is provided in a position visible to a rider while driving and that displays the set vehicle speed and the specified speed.

8. The driving assistance system according to claim 7, characterized in that, when the set vehicle speed differs from the specified speed, the vehicle speed setting means displays an approval-waiting image on the display unit, indicating that the set vehicle speed can be changed to match the specified speed by operating the accelerator grip.

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