Control device and control method for saddle-ride type vehicle

Abstract

The present invention provides a control device and a control method that can appropriately assist a rider. An acquisition unit of a control device (20) of a saddled vehicle (100) acquires riding object information about riding objects, which are objects riding on the saddled vehicle (100) other than the rider (200) of the saddled vehicle (100), on the basis of the output of an environmental information detection system (11) that includes at least one environmental sensor (11a, 11b, 11c, 11d) mounted on the saddled vehicle (100) and that detects information about surrounding objects, which are objects located around the saddled vehicle (100); and an execution unit of the control device (20) performs an assistance operation for the rider (200) of the saddled vehicle (100) on the basis of the riding object information.

Description

[Technical Field]

[0001] The present invention relates to a control device for a saddle-ride type vehicle and a control method for a saddle-ride type vehicle. [Background technology]

[0002] BACKGROUND ART Known conventional control devices for saddle-ride type vehicles are those that execute rider assistance operations (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-116882 Summary of the Invention [Problem to be solved by the invention]

[0004] In a saddle-ride type vehicle, objects other than the rider riding on the saddle-ride type vehicle have a greater impact on the vehicle's running than in other vehicles (e.g., passenger cars, trucks, etc.). However, conventional control devices for saddle-ride type vehicles are unable to obtain information about objects other than the rider riding on the saddle-ride type vehicle, which can make it difficult to execute appropriate assistance operations.

[0005] The present invention has been made in light of the above-mentioned problems, and aims to provide a control device that can appropriately assist a rider, and also to provide a control method that can appropriately assist a rider. [Means for solving the problem]

[0006] The control device of the present invention is a control device for a saddle-ride type vehicle, and includes at least one environmental sensor mounted on the saddle-ride type vehicle, and is equipped with an acquisition unit that acquires ridden object information, which is information about ridden objects, which are objects riding on the saddle-ride type vehicle other than the rider of the saddle-ride type vehicle, based on the output of an environmental information detection system that detects information about surrounding objects, which are objects located around the saddle-ride type vehicle, and an execution unit that performs assistance operations for the rider based on the ridden object information.

[0007] The control method of the present invention is a control method for a saddle-ride type vehicle, in which an acquisition unit of a control device of the saddle-ride type vehicle includes at least one environmental sensor mounted on the saddle-ride type vehicle, and acquires ridden object information, which is information about ridden objects, which are objects riding on the saddle-ride type vehicle other than the rider of the saddle-ride type vehicle, based on the output of an environmental information detection system that detects information about surrounding objects, which are objects located around the saddle-ride type vehicle, and an execution unit of the control device performs an assistance operation for the rider based on the ridden object information. [Effects of the Invention]

[0008] In the control device and control method according to the present invention, information about objects other than the rider riding on the saddle-ride type vehicle is obtained based on the output of the environmental information detection system, and an assist operation for the rider of the saddle-ride type vehicle is executed based on that information. This makes it possible to appropriately obtain information about objects other than the rider riding on the saddle-ride type vehicle, and to appropriately assist the rider. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a state in which an assistance system according to an embodiment of the present invention is mounted on a saddle-ride type vehicle; [Figure 2] 1 is a diagram showing a configuration of a support system according to an embodiment of the present invention; [Figure 3] FIG. 3 is a diagram showing an example of an operation flow of a control device of the assistance system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

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

[0012] For example, although the following description is given of a case in which the control device and control method according to the present invention are applied to a two-wheeled motorcycle, the control device and control method according to the present invention may also be applied to saddle-ride type vehicles other than two-wheeled motorcycles. A saddle-ride type vehicle refers to any vehicle that is driven while the rider sits astride the body. Examples of saddle-ride type vehicles include two-wheeled motorcycles, three-wheeled motorcycles, bicycles, and buggies. Examples of motorcycles include vehicles that use an engine as a propulsion source and vehicles that use an electric motor as a propulsion source, such as motorcycles, scooters, and electric scooters. Furthermore, a bicycle refers to any vehicle that can be propelled along a road by the rider's pedaling force applied to the pedals. Examples of bicycles include standard bicycles, electrically assisted bicycles, and electric bicycles.

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

[0014] Embodiment The support system according to the embodiment will be described below.

[0015] <Support system configuration> The configuration of the support system according to the embodiment will be described. Fig. 1 is a diagram showing a state in which an assistance system according to an embodiment of the present invention is mounted on a saddle-ride type vehicle, and Fig. 2 is a diagram showing the configuration of the assistance system according to an embodiment of the present invention.

[0016] As shown in FIGS. 1 and 2, the assistance system 1 is mounted on a saddle-ride type vehicle 100. The assistance system 1 includes at least an environmental information detection system 11 for detecting environmental information of the saddle-ride type vehicle 100, a driving state information detection system 12 for detecting driving state information of the saddle-ride type vehicle 100, and a control device (ECU) 20. The assistance system 1 assists a rider 200 of the saddle-ride type vehicle 100. The control device 20 also receives, as necessary, detection results from various systems (not shown) for detecting other information (for example, information on braking operation by the rider 200, information on accelerator operation by the rider 200, etc.). Each component of the assistance system 1 may be used exclusively for the assistance system 1, or may be shared with other systems.

[0017] The environmental information detection system 11 includes, for example, at least one environmental sensor 11a facing forward of the saddle-ride type vehicle 100, at least one environmental sensor 11b facing to the right of the saddle-ride type vehicle 100, at least one environmental sensor 11c facing to the left of the saddle-ride type vehicle 100, and at least one environmental sensor 11d facing rearward of the saddle-ride type vehicle 100. Note that although FIG. 1 illustrates the environmental sensor 11c as being located on the front side of the page, in reality, the environmental sensor 11c is located on the back side of the page. The environmental sensors 11a, 11b, 11c, and 11d are mounted on the saddle-ride type vehicle 100. The environmental sensors 11a, 11b, 11c, and 11d are, for example, ultrasonic sensors, radar, lidar sensors, cameras, etc. The environmental sensors 11a, 11b, 11c, and 11d may be sensors that detect, in a non-contact manner, information related to the distance and / or direction to an object (e.g., a vehicle, an obstacle, road equipment, a person, an animal, etc.) located within the detection range (e.g., information such as a relative position, a relative distance, a relative speed, a relative acceleration, a relative jerk, a passing time difference, and a predicted time until a collision), or may be sensors that detect, in a non-contact manner, characteristics of an object located within the detection range (e.g., the type of object, the shape of the object, a mark attached to the object, etc.). In other words, the environmental information detection system 11 uses the environmental sensors 11a, 11b, 11c, and 11d to detect, as environmental information, information about surrounding objects located around the saddle-ride type vehicle 100. Some of the environmental sensors 11a, 11b, 11c, and 11d may be shared by other environmental sensors. Furthermore, some of the environmental sensors 11a, 11b, 11c, and 11d may be omitted, or other environmental sensors may be added, as necessary.

[0018] The traveling condition information detection system 12 includes, for example, a wheel speed sensor 12a and an inertial sensor (IMU) 12b. The wheel speed sensor 12a detects the rotational speed of the wheels of the saddle-ride type vehicle 100. The wheel speed sensor 12a may detect other physical quantities that can be substantially converted into the rotational speed of the wheels of the saddle-ride type vehicle 100. The inertial sensor 12b detects three-axial accelerations and three-axial (roll, pitch, yaw) angular velocities occurring in the saddle-ride type vehicle 100. The inertial sensor 12b may detect other physical quantities that can be substantially converted into three-axial accelerations and three-axial angular velocities occurring in the saddle-ride type vehicle 100. Alternatively, the inertial sensor 12b may detect only some of the three-axial accelerations and three-axial angular velocities. At least one of the wheel speed sensor 12a and the inertial sensor 12b may be omitted, or another sensor may be added, as necessary.

[0019] The control device 20 includes at least an acquisition unit 21 and an execution unit 22. All or each unit of the control device 20 may be provided together in one housing, or may be provided separately in multiple housings. Furthermore, part or all of the control device 20 may be configured, for example, by a microcomputer, a microprocessor unit, or the like, or may be configured with updatable firmware, or may be a program module or the like executed by instructions from a CPU or the like.

[0020] The acquisition unit 21 acquires riding object information based on the output of the environmental information detection system 11. The riding object information is information about riding objects that are objects riding on the saddle-ride type vehicle 100 other than the rider 200. For example, riding objects are luggage loaded on the rear of the saddle-ride type vehicle 100, a passenger riding in the rear seat of the saddle-ride type vehicle 100, etc. The acquisition unit 21 also acquires riding state information of the saddle-ride type vehicle 100 based on the output of the riding state information detection system 12.

[0021] For example, when the environmental sensor 11d, that is, the environmental sensor that is assumed to face the position where a standard-sized piece of luggage is located (e.g., above the rear fender 100A) when the luggage is placed in a standard position on the saddle-ride type vehicle 100, is unable to detect short distances, the acquisition unit 21 determines whether the entire or part of the field of view of the environmental sensor 11d is undetectable based on the output of the environmental information detection system 11. That is, the acquisition unit 21 acquires information on the detection feasibility of the environmental sensor 11d. The acquisition unit 21 determines that luggage is present when the determination continues to be affirmative for a reference time or a reference mileage. That is, the ridden object information includes information on the presence or absence of a ridden object. Furthermore, when the determination continues to be affirmative for a reference time or a reference mileage, the acquisition unit 21 estimates the position of the luggage using information on the relative position of the field of view of the environmental sensor 11d with respect to the saddle-ride type vehicle 100. For example, if part of the field of view of the environmental sensor 11d is undetectable, or if only some of the multiple environmental sensors 11d are undetectable, the location of the luggage is estimated using information on the relative position of the undetectable area with respect to the saddle-riding type vehicle 100. That is, the ridden object information includes information on the position of the ridden object. Furthermore, if the determination continues to be positive for a reference time or a reference mileage, the acquisition unit 21 estimates that the type of the ridden object is luggage using information on the relative position of the field of view of the environmental sensor 11d with respect to the saddle-riding type vehicle 100. For example, if the environmental sensor 11d is undetectable but the environmental sensors 11b and 11c are detectable, the acquisition unit 21 estimates that the type of the ridden object is luggage, not a passenger. That is, the ridden object information includes information on the type of the ridden object. Furthermore, if the determination continues to be positive for a reference time or a reference mileage, the acquisition unit 21 estimates the size of the luggage using information on the relative position of the field of view of the environmental sensor 11d with respect to the saddle-riding type vehicle 100. For example, when part of the field of view of the environmental sensor 11d is undetectable, or when only part of the multiple environmental sensors 11d is undetectable, the acquisition unit 21 estimates the size of the luggage being carried using information on the relative position of the undetectable area with respect to the saddle riding type vehicle 100. In other words, the ridden object information includes information on the size of the ridden object.Furthermore, if the determination remains positive for a reference time or a reference traveling distance, the acquisition unit 21 estimates the weight of the luggage using information on the position of the ground detected by the environmental sensor 11b, the environmental sensor 11c, and / or the environmental sensor 11d. For example, the acquisition unit 21 estimates the weight of the luggage by deriving a change in the position of the ground relative to a previously set or acquired position in a state in which there is no ridden object. In other words, the ridden object information includes information on the weight of the ridden object. It is preferable that the information on the position of the ground be acquired when the saddle riding type vehicle 100 is stopped.

[0022] For example, when the environmental sensor 11d, i.e., the environmental sensor that is assumed to face the location of a standard-sized baggage when the baggage is placed in a standard position on the saddle-ride type vehicle 100, is capable of detecting short distances, the acquisition unit 21 determines, based on the output of the environmental information detection system 11, whether or not some object, i.e., baggage, is present at a position where the distance from the environmental sensor 11d is less than a reference distance and / or the direction from the environmental sensor 11d is within a reference range. That is, the acquisition unit 21 acquires information on the distance and / or direction from the environmental sensor 11d to the ridden object. The acquisition unit 21 determines that baggage is present when the determination continues to be affirmative for a reference time or a reference mileage. That is, the ridden object information includes information on the presence or absence of a ridden object. Furthermore, when the determination continues to be affirmative for a reference time or a reference mileage, the acquisition unit 21 estimates the location and / or size of the baggage using information on the distance and / or direction from the environmental sensor 11d to the object, i.e., the baggage. That is, the riding object information includes information on the position and / or size of the riding object. Furthermore, when the determination continues to be positive beyond a reference time or a reference traveling distance, the acquisition unit 21 estimates that the type of the riding object is baggage using information on the characteristics of the riding object detected by the environmental sensor 11d and / or information on the relative position of the field of view of the environmental sensor 11d with respect to the saddle riding vehicle 100. For example, when the determination is positive only from the environmental sensor 11d, the acquisition unit 21 estimates that the type of the riding object is baggage, not a passenger. That is, the riding object information includes information on the type of the riding object. Furthermore, when the determination continues to be positive beyond a reference time or a reference traveling distance, the acquisition unit 21 estimates the weight of the baggage using information on the position of the ground detected by the environmental sensor 11b, the environmental sensor 11c, and / or the environmental sensor 11d. For example, the acquisition unit 21 estimates the weight of the baggage by deriving a change amount relative to the position of the ground in a state where the riding object is not present, which is set or acquired in advance. That is, the riding object information includes information on the weight of the riding object. The information on the position of the ground may be acquired when the saddle type vehicle 100 is stopped.

[0023] For example, when the environmental sensor 11b and / or the environmental sensor 11c, that is, the environmental sensor that is assumed to face the position where the passenger's legs would be when the passenger is sitting in a standard position on the saddle-ride type vehicle 100 (for example, above the passenger step 100B), is unable to detect close ranges, the acquisition unit 21 determines whether the entire or part of the field of view of the environmental sensor 11b and / or the environmental sensor 11c is undetectable based on the output of the environmental information detection system 11. That is, the acquisition unit 21 acquires information on the detection feasibility of the environmental sensor 11b and / or the environmental sensor 11c. When the determination remains positive for a reference time or a reference mileage, the acquisition unit 21 determines that a passenger is on board. That is, the ridden object information includes information on the presence or absence of a ridden object. Furthermore, if the determination remains positive beyond a reference time or a reference mileage, the acquisition unit 21 estimates the passenger's position using information on the relative position of the field of view of the environmental sensor 11b and / or the environmental sensor 11c with respect to the saddle-riding type vehicle 100. For example, if part of the field of view of the environmental sensor 11b is undetectable, or if only part of the multiple environmental sensors 11b is undetectable, the acquisition unit 21 estimates the passenger's position using information on the relative position of the undetectable area with respect to the saddle-riding type vehicle 100. In other words, the ridden object information includes information on the position of the ridden object. Furthermore, if the determination remains positive beyond a reference time or a reference mileage, the acquisition unit 21 estimates that the type of the ridden object is a passenger using information on the relative position of the field of view of the environmental sensor 11d with respect to the saddle-riding type vehicle 100. For example, if the environmental sensors 11b and 11c are undetectable, the acquisition unit 21 estimates that the type of the ridden object is a passenger, not baggage. In other words, the ridden object information includes information on the type of the ridden object. Furthermore, when the determination remains positive for a reference time or a reference mileage, the acquisition unit 21 estimates the weight of the passenger using information on the position of the ground detected by the environmental sensor 11d, the environmental sensor 11b, and / or the environmental sensor 11c. For example, the acquisition unit 21 estimates the weight of the passenger by deriving a change amount relative to the position of the ground in a state in which the ridden object is not present, which is set or acquired in advance. In other words, the ridden object information includes information on the weight of the ridden object.The information on the position of the ground may be acquired when the saddle type vehicle 100 is stopped.

[0024] For example, if the environmental sensor 11b and / or the environmental sensor 11c, i.e., the environmental sensor that is assumed to face the position where the passenger's legs would be when the passenger is sitting in a standard position on the saddle-ride type vehicle 100 (e.g., above the passenger step 100B), can detect short distances, the acquisition unit 21 determines, based on the output of the environmental information detection system 11, whether or not some object, i.e., the passenger's legs, are present at a position where the distance from the environmental sensor 11b and / or the environmental sensor 11c is less than a reference distance and / or the direction from the environmental sensor 11b and / or the environmental sensor 11c is within a reference range. That is, the acquisition unit 21 acquires information on the distance and / or direction from the environmental sensor 11b and / or the environmental sensor 11c to the ridden object. If the determination remains positive for a reference time or a reference mileage, the acquisition unit 21 determines that a passenger is present. That is, the ridden object information includes information on the presence or absence of a ridden object. Furthermore, if the determination continues to be positive beyond a reference time or a reference mileage, the acquisition unit 21 estimates the position of the passenger using information on the distance and / or direction from the environmental sensor 11b and / or the environmental sensor 11c to the object, i.e., the passenger's legs. In other words, the riding object information includes information on the position of the riding object. Furthermore, if the determination continues to be positive beyond a reference time or a reference mileage, the acquisition unit 21 estimates that the type of the riding object is a passenger using information on the characteristics of the riding object detected by the environmental sensor 11b and / or the environmental sensor 11c and / or information on the relative position of the field of view of the environmental sensor 11b and / or the environmental sensor 11c with respect to the saddle riding type vehicle 100. For example, if the determination is positive only from the environmental sensor 11b and / or the environmental sensor 11c, the acquisition unit 21 estimates that the type of the riding object is a passenger, not baggage. In other words, the riding object information includes information on the type of the riding object. Furthermore, when the determination remains positive for a reference time or a reference mileage, the acquisition unit 21 estimates the weight of the passenger using information on the position of the ground detected by the environmental sensor 11d, the environmental sensor 11b, and / or the environmental sensor 11c. For example, the acquisition unit 21 estimates the weight of the passenger by deriving a change amount relative to the position of the ground in a state in which the ridden object is not present, which is set or acquired in advance. In other words, the ridden object information includes information on the weight of the ridden object.The information on the position of the ground may be acquired when the saddle type vehicle 100 is stopped.

[0025] At least one of the environmental sensors 11b, 11c, and 11d may be used exclusively for acquiring riding object information, or may be used also for determining the possibility of a collision between the saddle riding vehicle 100 and a surrounding object located to the side or rear of the saddle riding vehicle 100 in a collision suppression operation described below. Furthermore, if the field of view of the environmental sensor 11a or the environmental sensor 11d is wide, at least one of the environmental sensors 11b and 11c may be substituted by the environmental sensor 11a or the environmental sensor 11d. Furthermore, if the field of view of the environmental sensor 11b or the environmental sensor 11c is wide, at least one of the environmental sensors 11a and 11d may be substituted by the environmental sensor 11b or the environmental sensor 11c. In particular, the environmental sensor for acquiring riding object information is preferably an ultrasonic sensor. In such cases, to obtain information about the riding object, the ultrasonic sensor may detect distance information and / or quality characteristic information (e.g., amplitude, correlation coefficient, frequency, etc.) contained in the reflected wave, may detect the noise level, and may detect ground clutter.

[0026] The execution unit 22 executes an assist operation for the rider 200 based on the riding object information acquired by the acquisition unit 21. The execution unit 22 executes an assist operation for the rider 200 by outputting control commands to, for example, the braking device 30 that generates a braking force on the saddle riding type vehicle 100, the drive device 40 that generates a driving force on the saddle riding type vehicle 100, the notification device 50 that issues a notification to the rider 200 (for example, a notification that acts on the auditory sense, a notification that acts on the visual sense, a notification that acts on the tactile sense, etc.). In other words, the execution unit 22 may execute a behavior control operation for the saddle riding type vehicle 100 as an assist operation for the rider 200, or may execute a notification operation for the rider 200. The notification device 50 may be provided in the saddle riding type vehicle 100, or may be provided in an article of clothing 110 (for example, a helmet, goggles, gloves, etc.) worn by the rider 200 that is communicably connected to the saddle riding type vehicle 100. The rider 200 may also be notified by a haptic operation that causes an instantaneous change in acceleration or deceleration of the saddle riding type vehicle 100. In such a case, the braking device 30 or the driving device 40 performs the function of the notification device 50.

[0027] As a specific example, the execution unit 22 performs, as the notification action, an action of notifying the rider 200 that a ride-on object is riding on the saddle-ride type vehicle 100. Furthermore, the execution unit 22 performs, as the notification action, an action of notifying the rider 200 of the position where the ride-on object is riding. Furthermore, the execution unit 22 performs, as the notification action, an action of notifying the rider 200 of the type of the ride-on object. Furthermore, the execution unit 22 performs, as the notification action, an action of notifying the rider 200 of the size of the ride-on object. Furthermore, the execution unit 22 performs, as the notification action, an action of notifying the rider 200 of the weight of the ride-on object.

[0028] As another specific example, the execution unit 22 executes, as the behavior control operation, an operation of changing the mode of slip control (e.g., antilock brake control, traction control, sideslip prevention control, etc.) and / or suspension control of the saddle-ride type vehicle 100 depending on the presence or absence of a ridden object. When the ridden object information indicates that a ridden object is present, the execution unit 22 assumes that the saddle-ride type vehicle 100 is rear-loaded, and automatically sets a mode in which a threshold value specific to that state is set. The execution unit 22 may reflect a standard weight estimated from the type and / or size of the ridden object in the setting of the mode. The execution unit 22 may also reflect information on the position where the ridden object is present in the setting of the mode. The execution unit 22 may also reflect information on the weight of the ridden object in the setting of the mode. Note that, as the notification operation, the execution unit 22 may execute an operation of proposing a mode change to the rider 200, and the mode change may be confirmed after the rider 200 approves it.

[0029] As another specific example, the execution unit 22 executes the assistance operation for the rider 200 based on, in addition to the riding object information, positional relationship information between the saddle riding type vehicle 100 and peripheral objects (e.g., vehicles, obstacles, road facilities, people, animals, etc.) located around the saddle riding type vehicle 100. The positional relationship information is acquired by the acquisition unit 21 based on the output of the environmental information detection system 11. The positional relationship information is, for example, information such as relative position, relative distance, relative speed, relative acceleration, relative jerk, passing time difference, and predicted time until collision. The positional relationship information may also be information of other physical quantities that can be substantially converted into these. An environmental sensor different from the environmental sensor used to acquire the riding object information may be used to acquire the positional relationship information, or the environmental sensor used to acquire the riding object information may be used.

[0030] For example, the execution unit 22 performs automatic acceleration / deceleration of the saddle-riding type vehicle 100 as an assistance operation for the rider 200, based on the positional relationship information acquired by the acquisition unit 21. The automatic acceleration / deceleration operation is, for example, speed tracking control for a preceding vehicle that is performed when the rider 200 is not braking or accelerating (so-called adaptive cruise control), or speed tracking control for a preceding vehicle that is performed when the rider 200 is braking or accelerating. The acquisition unit 21 acquires information on the relative distance, relative speed, or passing time difference between the saddle-riding type vehicle 100 and a vehicle preceding the saddle-riding type vehicle 100, i.e., an object that is the target of speed tracking. The execution unit 22 outputs a control command to the braking device 30 or the drive device 40 to cause the saddle-riding type vehicle 100 to accelerate or decelerate according to the information on the relative distance, relative speed, or passing time difference, thereby causing the saddle-riding type vehicle 100 to follow the speed of the preceding vehicle. The braking device 30 may be controlled to generate or increase deceleration, or may be controlled to generate or increase acceleration. The driving device 40 may be controlled to generate or increase acceleration, or may be controlled to generate or increase deceleration. When the automatic acceleration / deceleration operation is being performed, the execution unit 22 outputs a control signal to the notification device 50 as necessary to issue a notification to the rider 200.

[0031] For example, the execution unit 22 performs a collision prevention operation for the saddle-riding type vehicle 100 as an assistance operation for the rider 200, based on the positional relationship information acquired by the acquisition unit 21. The acquisition unit 21 acquires information on the predicted time until a collision occurs between the saddle-riding type vehicle 100 and a surrounding object (e.g., a vehicle, an obstacle, road equipment, a person, an animal, etc.) located around the saddle-riding type vehicle 100 (e.g., in front, to the right, to the left, behind, etc.), i.e., information on the possibility of a collision. When it is determined that the possibility of a collision exceeds a standard, the execution unit 22 outputs a control signal to the alarm device 50 to generate an alarm for the rider 200. Furthermore, when it is determined that the possibility of a collision exceeds a standard, the execution unit 22 outputs a control command to the braking device 30 or the drive device 40 to cause the saddle-riding type vehicle 100 to generate acceleration / deceleration to suppress the collision. The braking device 30 may be controlled to generate or increase deceleration, or may be controlled to generate or increase acceleration. The drive 40 may be controlled to produce or increase acceleration, and may also be controlled to produce or increase deceleration.

[0032] For example, in the automatic acceleration / deceleration operation and / or the collision prevention operation, the execution unit 22 changes the upper limit of the acceleration and / or the upper limit of the deceleration to be applied to the saddle type vehicle 100 depending on the presence, position, type, size, and / or weight of a ridden object. Furthermore, in the collision prevention operation, the execution unit 22 changes the criteria for determining the possibility of a collision depending on the presence, position, type, size, and / or weight of a ridden object. Furthermore, the execution unit 22 may output a control command to the environmental information detection system 11 to change the direction of the field of view of an environmental sensor (e.g., environmental sensor 11b, environmental sensor 11c, environmental sensor 11d, etc.) whose field of view includes the ridden object in order to remove the ridden object from the field of view. The execution unit 22 may output a command to the acquisition unit 21 to omit calculation processing for acquiring positional relationship information between the saddle type vehicle 100 and surrounding objects for an area of ​​the data output from the environmental information detection system 11 that is undetectable due to the ridden object or an area where the ridden object is detected. That is, the acquisition unit 21 may acquire positional relationship information for a peripheral object located in an area around the saddle type vehicle 100 that is set according to the riding object information.

[0033] <Operation of the support system> The operation of the support system according to the embodiment will be described. FIG. 3 is a diagram showing an example of an operation flow of the control device in the assistance system according to the embodiment of the present invention.

[0034] The control device 20 executes the operation flow shown in FIG.

[0035] (Acquisition step) In step S101, the acquisition unit 21 acquires riding object information based on the output of the environmental information detection system 11. The acquisition unit 21 acquires positional relationship information between the saddle type vehicle 100 and surrounding objects based on the output of the environmental information detection system 11, as necessary. In addition, the acquisition unit 21 acquires running state information of the saddle type vehicle 100 based on the output of the running state information detection system 12, as necessary.

[0036] (Steps to be taken) Next, in step S102, the execution unit 22 executes an assist action for the rider 200 based on at least the riding object information acquired by the acquisition unit 21.

[0037] <Effects of the support system> The effects of the support system according to the embodiment will be described. The control device 20 acquires riding object information based on the output of the environmental information detection system 11, and executes an assist operation for the rider 200 of the saddle riding type vehicle 100 based on the riding object information. Therefore, it becomes possible to appropriately acquire information about objects riding on the saddle riding type vehicle 100 other than the rider 200, and to appropriately assist the rider 200.

[0038] Preferably, the acquisition unit 21 acquires the riding object information based on information on whether or not an environmental sensor (e.g., environmental sensor 11b, environmental sensor 11c, environmental sensor 11d, etc.) can detect the riding object. Preferably, the acquisition unit 21 acquires the riding object information based on information on the distance and / or direction from an environmental sensor (e.g., environmental sensor 11b, environmental sensor 11c, environmental sensor 11d, etc.) to the riding object. Preferably, the acquisition unit 21 acquires the riding object information based on information on the position of the ground detected by an environmental sensor (e.g., environmental sensor 11b, environmental sensor 11c, environmental sensor 11d, etc.). Such a configuration makes it possible to appropriately acquire information on objects riding on the saddle riding type vehicle 100 other than the rider 200.

[0039] Preferably, the acquisition unit 21 acquires positional relationship information between the saddle riding type vehicle 100 and the surrounding objects based on the output of the environmental information detection system 11, and the execution unit 22 executes the assistance operation based on the positional relationship information in addition to the riding object information. With such a configuration, it becomes possible to appropriately assist the rider 200. [Explanation of symbols]

[0040] 1 Assistance system, 11 Environmental information detection system, 11a, 11b, 11c, 11d Environmental sensors, 12 Driving state information detection system, 12a Wheel speed sensor, 12b Inertial sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit, 30 Braking device, 40 Drive device, 50 Notification device, 100 Saddle-type vehicle, 100A Rear fender, 100B Passenger step, 110 Wearing item, 200 Rider.

Claims

1. A control device (20) for a saddle-ride type vehicle (100), an acquisition unit (21) that acquires riding object information, which is information on riding objects that are objects riding on the saddle-ride type vehicle (100) other than the rider (200) of the saddle-ride type vehicle (100), based on the output of an environmental information detection system (11) that includes at least one environmental sensor (11a, 11b, 11c, 11d) mounted on the saddle-ride type vehicle (100) and detects information on surrounding objects that are objects located around the saddle-ride type vehicle (100); an execution unit (22) that executes an assist operation for the rider (200) based on the riding object information; Equipped with The acquisition unit (21) acquires the riding object information based on information on whether the environmental sensors (11a, 11b, 11c, 11d) are capable of detecting the object and information on the position of the ground detected by the environmental sensors (11a, 11b, 11c, 11d). A control device (20).

2. The riding object information includes information on the presence or absence of the riding object. The control device (20) of claim 1.

3. The riding object information includes information on the position of the riding object. A control device (20) according to claim 1 or 2.

4. The riding object information includes information on the type of the riding object. A control device (20) according to claim 1 or 2.

5. The riding object information includes information about the size of the riding object. A control device (20) according to claim 1 or 2.

6. The riding object information includes information on the weight of the riding object. A control device (20) according to claim 1 or 2.

7. The acquisition unit (21) acquires the riding object information based on information on a distance and / or a direction from the environmental sensors (11a, 11b, 11c, 11d) to the riding object. A control device (20) according to claim 1 or 2.

8. The assistance operation includes an informing operation for the rider (200). A control device (20) according to claim 1 or 2.

9. The assisting operation includes a behavior control operation of the saddle-ride type vehicle (100). A control device (20) according to claim 1 or 2.

10. the acquisition unit (21) acquires positional relationship information between the saddle-ride type vehicle (100) and the surrounding object based on an output of the environmental information detection system (11); The execution unit (22) executes the assistance operation based on the riding object information as well as the positional relationship information. A control device (20) according to claim 1 or 2.

11. the acquisition unit (21) acquires the positional relationship information for the peripheral object located in an area around the saddle-ride type vehicle (100) that is set according to the riding object information; The control device (20) of claim 10.

12. A control method for a saddle-ride type vehicle (100), comprising: an acquisition unit (21) of a control device (20) of the saddle-ride type vehicle (100) includes at least one environmental sensor (11a, 11b, 11c, 11d) mounted on the saddle-ride type vehicle (100), and acquires riding object information, which is information on riding objects, which are objects riding on the saddle-ride type vehicle (100) other than the rider (200) of the saddle-ride type vehicle (100), based on the output of an environmental information detection system (11) that includes at least one environmental sensor (11a, 11b, 11c, 11d) mounted on the saddle-ride type vehicle (100), and detects information on surrounding objects, which are objects located around the saddle-ride type vehicle (100); an execution unit (22) of the control device (20) executes an assistance operation for the rider (200) based on the riding object information; The acquisition unit (21) acquires the riding object information based on information on whether the environmental sensors (11a, 11b, 11c, 11d) are capable of detecting the object and information on the position of the ground detected by the environmental sensors (11a, 11b, 11c, 11d). Control method.

Images