Support system and control method thereof

Abstract

The present invention attains an assistance system capable of dealing with the particularity of travelling of a saddle-type vehicle. The present invention also attains a control method for the assistance system. The present invention involves: acquiring surrounding environment information on a saddle-type vehicle (100) on the basis of an output from at least one surrounding environment detection device (11); determining the presence or absence of traveling through by the saddle-type vehicle (100) between vehicle sequences, on the basis of the surrounding environment information; transmitting, upon determination of the presence of traveling through between the vehicle sequences, a trigger signal through wireless communication from a control device (20) of the saddle-type vehicle (100) to other control devices (120); and, upon reception of the trigger signal by the other control devices (120), executing an other vehicle driver assistance operation for assisting drivers of the other vehicles (200) positioned around the saddle-type vehicle (100).

Description

[Technical Field]

[0001] The present invention relates to an assistance system including a control device for a saddle-ride type vehicle equipped with at least one surrounding environment detection device, and a control method for an assistance system including a control device for a saddle-ride type vehicle equipped with at least one surrounding environment detection device. [Background technology]

[0002] BACKGROUND ART Some conventional saddle-ride type vehicles are equipped with an assistance system capable of performing driver assistance operations to assist the driver of the saddle-ride type vehicle (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] Saddle-ride type vehicles are significantly smaller than other vehicles (e.g., passenger cars, trucks, etc.). As a result, saddle-ride type vehicles are capable of special driving behaviors that are not possible with other vehicles. However, assistance systems installed in conventional saddle-ride type vehicles may sometimes have difficulty responding appropriately to the special characteristics of driving a saddle-ride type vehicle.

[0005] The present invention has been made in light of the above-mentioned problems, and aims to provide an assistance system that can accommodate the particular characteristics of riding in a saddle-ride type vehicle, and also to provide a control method for such an assistance system. [Means for solving the problem]

[0006] The assistance system of the present invention is an assistance system including a control device for a saddle-ride type vehicle equipped with at least one surrounding environment detection device, wherein the control device is equipped with a judgment unit that judges whether or not the saddle-ride type vehicle is passing through a convoy of vehicles based on the output of the surrounding environment detection device, and an execution unit that performs a communication operation to send a trigger signal to another control device via wireless communication when the judgment unit determines that the saddle-ride type vehicle is passing through a convoy of vehicles, and when the other control device receives the trigger signal, it performs an other-vehicle driver assistance operation to assist the driver of another vehicle located in the vicinity of the saddle-ride type vehicle.

[0007] The control method of the present invention is a control method for an assistance system including a control device for a saddle-ride type vehicle equipped with at least one surrounding environment detection device, in which a judgment unit of the control device judges whether the saddle-ride type vehicle is passing through a convoy of vehicles based on the output of the surrounding environment detection device, and an execution unit of the control device performs a communication operation to send a trigger signal to another control device via wireless communication when the judgment unit judges that the saddle-ride type vehicle is passing through a convoy of vehicles, and when the other control device receives the trigger signal, performs an other-vehicle driver assistance operation to assist the driver of another vehicle located in the vicinity of the saddle-ride type vehicle. [Effects of the Invention]

[0008] In the assistance system and control method according to the present invention, ambient environment information for the saddle-ride type vehicle is acquired based on the output of at least one ambient environment detection device, a determination is made based on the ambient environment information as to whether the saddle-ride type vehicle is passing through a convoy of vehicles, and if it is determined that a convoy of vehicles is passing through a convoy of vehicles, a trigger signal is transmitted via wireless communication from the control device of the saddle-ride type vehicle to another control device, and if the other control device receives the trigger signal, it executes an other-vehicle driver assistance operation to assist the driver of another vehicle located near the saddle-ride type vehicle. This makes it possible to appropriately respond to the unique characteristics of the driving of saddle-ride type vehicles. [Brief explanation of the drawings]

[0009] [Figure 1]1 is a diagram showing a configuration of a support system according to an embodiment of the present invention; [Figure 2] 1 is a diagram showing a configuration of a support system according to an embodiment of the present invention; [Figure 3] FIG. 2 is a diagram illustrating an example of a function of the support system according to the embodiment of the present invention. [Figure 4] FIG. 2 is a diagram illustrating an example of an operation of the support system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] The assistance system and 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 assistance system and control method according to the present invention are not limited to such configurations, operations, etc.

[0012] For example, in the following description, the saddle-ride type vehicle is a motorcycle, but in the assistance system and control method according to the present invention, the saddle-ride type vehicle may be a vehicle other than a motorcycle. A saddle-ride type vehicle is, for example, a motorcycle (motorcycle, motor tricycle), a bicycle, or the like, and refers to a type of vehicle on which a driver straddles and rides. A motorcycle includes vehicles that use an engine as a propulsion source and vehicles that use an electric motor as a propulsion source, such as a motorcycle, a scooter, and an electric scooter. A bicycle refers to a vehicle that can be propelled on a road by the driver's pedaling force applied to the pedals. A bicycle includes a standard bicycle, an electrically assisted bicycle, an electric bicycle, and the like.

[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. 1 and 2 are diagrams showing the configuration of a support system according to an embodiment of the present invention, and FIG. 3 is a diagram for explaining an example of the functions of the support system according to an embodiment of the present invention.

[0016] 1 and 2, the assistance system 1 includes a host vehicle driver assistance system 10 that assists a driver of a saddle-ride type vehicle 100 equipped with a surrounding environment detection device 11, and an other vehicle driver assistance system 110 that assists a driver of another vehicle 200. The other vehicle 200 may be a vehicle other than a saddle-ride type vehicle (for example, a passenger car, a truck, etc.), or may be a saddle-ride type vehicle.

[0017] The host vehicle driver assistance system 10 includes a driving condition detection device 12 for detecting driving condition information of the vehicle (saddle-ride type vehicle 100), a setting input device 13, and a control device (ECU) 20. The other vehicle driver assistance system 110 includes a driving condition detection device 12 for detecting driving condition information of the vehicle (other vehicle 200), a setting input device 13, and a control device (ECU) 120. Detection results of various detection devices that detect other information may be input to the control device 20 and the control device 120.

[0018] The host vehicle driver assistance system 10 performs host vehicle driver assistance operations to assist the driver of the saddle riding type vehicle 100, using ambient environment information of the saddle riding type vehicle 100 acquired based on the output of the ambient environment detection device 11. Each unit of the host vehicle driver assistance system 10 may be used exclusively for the host vehicle driver assistance system 10, or may be shared with other systems. Note that the host vehicle driver assistance operations may be performed using information other than the ambient environment information of the saddle riding type vehicle 100.

[0019] The surrounding environment detection device 11 may be, for example, a surrounding environment detection device 11a facing forward of the saddle-ride type vehicle 100, a surrounding environment detection device 11b facing rearward of the saddle-ride type vehicle 100, a surrounding environment detection device 11c facing leftward of the saddle-ride type vehicle 100, or a surrounding environment detection device 11d facing rightward of the saddle-ride type vehicle 100, or a combination thereof. The surrounding environment detection devices 11a, 11b, 11c, and 11d are, for example, radar, a lidar sensor, an ultrasonic sensor, a camera, or the like. At least a portion of the surrounding environment detection device 11c and the surrounding environment detection device 11d may be substituted with the surrounding environment detection device 11a or the surrounding environment detection device 11b.

[0020] The running condition detection device 12 includes, for example, a front wheel rotation speed sensor, a rear wheel rotation speed sensor, etc. The front wheel rotation speed sensor and the rear wheel rotation speed sensor detect the rotation speed of the wheels. The front wheel rotation speed sensor and the rear wheel rotation speed sensor may also detect other physical quantities that can be substantially converted into the rotation speed of the wheels.

[0021] Furthermore, the traveling condition detection device 12 includes, for example, an inertial measurement unit. The inertial measurement unit is equipped with a three-axis gyro sensor and a three-directional acceleration sensor, and measures the three-axis acceleration and three-axis angular velocity of the saddle riding type vehicle 100. The inertial measurement unit may measure other physical quantities that can be substantially converted into the three-axis acceleration and three-axis angular velocity. Alternatively, the inertial measurement unit may measure only some of the three-axis acceleration and three-axis angular velocity.

[0022] The running condition detection device 12 also includes, for example, a braking force measurement device, a driving force measurement device, etc. The braking force measurement device measures, for example, the amount of braking operation by the driver, the actual braking force acting on the braking device 30, etc. The braking force measurement device may measure the amount of braking operation by the driver or another physical quantity that can be substantially converted into the actual braking force acting on the braking device 30. The driving force measurement device measures, for example, the amount of accelerator operation by the driver, the actual driving force acting on the driving device 40, etc. The driving force measurement device may measure the amount of accelerator operation by the driver, or another physical quantity that can be substantially converted into the actual driving force acting on the driving device 40.

[0023] The setting input device 13 accepts input of various settings by the driver. For example, the driver can use the setting input device 13 to switch between enabling and disabling various driver assistance operations of the vehicle. Furthermore, for example, the driver can use the setting input device 13 to set various modes or various thresholds (e.g., upper limit values, lower limit values, etc.) used in various driver assistance operations of the vehicle. The setting input device 13 may accept operations performed by the driver's body (e.g., hands, feet, etc.), or may accept voice utterances from the driver. Furthermore, the setting input device 13 may be provided in the saddle-ride type vehicle 100, or may be provided in an accessory (e.g., a helmet, gloves, etc.) of the saddle-ride type vehicle 100 that is communicatively connected to the control device 20.

[0024] The traveling condition detection device 12 also includes, for example, a receiver for signals from a GPS (Global Positioning System) satellite and a storage unit for map information. Other configurations that can measure the position or traveling direction of the saddle type vehicle 100 may also be employed.

[0025] The control device 20 of the saddle-ride type vehicle 100 includes an acquisition unit 21, an execution unit 22, and a determination unit 23. The units 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.

[0026] The acquisition unit 21 acquires information output from each device mounted on the saddle-ride type vehicle 100. For example, the acquisition unit 21 acquires ambient environment information of the saddle-ride type vehicle 100 based on output from the ambient environment detection device 11, and acquires driving state information of the saddle-ride type vehicle 100 based on output from the driving state detection device 12 of the saddle-ride type vehicle 100. The ambient environment information includes positional relationship information between the saddle-ride type vehicle 100 and objects located around the saddle-ride type vehicle 100 (e.g., vehicles, obstacles, road facilities, people, animals, etc.). The positional relationship information is 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 be information of other physical quantities that can be substantially converted into the above information. The driving state information includes information such as the speed, acceleration / deceleration, position, and traveling direction of the saddle-ride type vehicle 100. The driving state information may be information of other physical quantities that can be substantially converted into the above information.

[0027] The execution unit 22 outputs control commands to various devices of the vehicle driver assistance system 10 based on the various information acquired by the acquisition unit 21, and executes vehicle driver assistance operations to assist the driver of the saddle-ride type vehicle 100.

[0028] For example, when performing a driver assistance operation for the host vehicle, the execution unit 22 causes the saddle-ride type vehicle 100 to perform automatic acceleration / deceleration operations based on ambient environment information (particularly positional relationship information) of the saddle-ride type vehicle 100 acquired by the acquisition unit 21, as necessary. When performing the automatic acceleration / deceleration operations, the execution unit 22 outputs a control command to the braking device 30 or the drive device 40. The braking device 30 brakes the saddle-ride type vehicle 100. The drive device 40 drives the saddle-ride type vehicle 100 as a power source for the saddle-ride type vehicle 100. The braking device 30 may be controlled to cause or increase deceleration, or may be controlled to cause or increase acceleration. The drive device 40 may be controlled to cause or increase acceleration, or may be controlled to cause or increase deceleration. The acceleration / deceleration control may be performed automatically when no braking or accelerating operation is being performed, or may be performed automatically to compensate for any excess or deficiency in at least one of the braking and accelerating operations when they are being performed.

[0029] For example, when executing the driver assistance operation of the host vehicle, the execution unit 22 causes the notification device 50 to perform a notification operation for the driver based on ambient environment information (particularly, positional relationship information) of the saddle-ride type vehicle 100 acquired by the acquisition unit 21, as necessary. The notification device 50 may notify the driver by display (i.e., perception using the visual organs as a sensory organ), by sound (i.e., perception using the auditory organs as a sensory organ), or by vibration (i.e., perception using the tactile organs as a sensory organ). For example, the notification device 50 is a display, a lamp, a speaker, a vibrator, etc. The notification device 50 may be provided in the saddle-ride type vehicle 100, or may be provided in an accessory of the saddle-ride type vehicle 100 (e.g., a helmet, gloves, etc.) connected to the control device 20 so as to be able to communicate with the control device 20. The notification device 50 may notify the driver by causing the saddle-ride type vehicle 100 to instantaneously accelerate or decelerate. That is, the notification device 50 may be realized by the braking device 30 or the driving device 40.

[0030] The determination unit 23 determines whether the saddle type vehicle 100 is passing through a convoy of vehicles based on the ambient environment information of the saddle type vehicle 100 acquired by the acquisition unit 21. As shown in Fig. 3, passing through a convoy of vehicles is when the saddle type vehicle 100 passes through between the left convoy of vehicles VL1 and the right convoy of vehicles VL2 at a faster speed than the other vehicles 200 belonging to the left convoy of vehicles VL1 and the other vehicles 200 belonging to the right convoy of vehicles VL2. The left convoy of vehicles VL1 and the right convoy of vehicles VL2 are convoys formed by other vehicles 200 that are traveling or stopped in the same direction as the traveling direction of the saddle type vehicle 100.

[0031] Specifically, the determination unit 23 acquires left relative speed information, which is information indicating the relative speed of other vehicles 200 belonging to the left train of vehicles VL1 with respect to the saddle-ride type vehicle 100, based on positional relationship information between the saddle-ride type vehicle 100 and objects located around the saddle-ride type vehicle 100, which is acquired by the acquisition unit 21 as ambient environment information for the saddle-ride type vehicle 100. The left train of vehicles VL1 is defined as a train of vehicles that is to the left of the traveling line DL of the saddle-ride type vehicle 100 and whose distance from the traveling line DL is less than a reference value (i.e., a train of vehicles located in the traveling lane L1 in FIG. 3). The other vehicle 200 from which the relative speed is acquired should preferably be the vehicle that is closest in relative distance to the saddle-ride type vehicle 100. The left relative speed information may also be information indicating the average relative speed of multiple other vehicles 200 belonging to the left train of vehicles VL1 with respect to the saddle-ride type vehicle 100. Of the vehicles located to the left of the driving line DL of the saddle riding type vehicle 100, vehicles whose relative distance to the saddle riding type vehicle 100 is below a reference value may be selected as the vehicle for which relative speed is to be acquired. Furthermore, for the left relative speed information, another vehicle 200 located to the left front of the saddle riding type vehicle 100 may be the vehicle for which relative speed is to be acquired, or another vehicle 200 located to the left or rear of the saddle riding type vehicle 100 may be the vehicle for which relative speed is to be acquired. The left relative speed information may be a speed difference in a direction parallel to the driving line DL of the saddle riding type vehicle 100, may be a differential value of the inter-vehicle distance, or may be another physical quantity that can be substantially converted into any of these.

[0032] The determination unit 23 also acquires left-side density information, which is information indicating the density of multiple other vehicles 200 belonging to the left-side vehicle train VL1, based on positional relationship information between the saddle-ride vehicle 100 and objects located around the saddle-ride vehicle 100, which is acquired by the acquisition unit 21 as ambient environment information for the saddle-ride vehicle 100. Other vehicles 200 located to the left of the traveling line DL of the saddle-ride vehicle 100 whose relative distance to the saddle-ride vehicle 100 is below a reference value may be selected as targets for acquiring the density information. Furthermore, for the left-side density information, other vehicles 200 located to the left front of the saddle-ride vehicle 100 may be used as targets for acquiring the density information, or other vehicles 200 located to the left or rear of the saddle-ride vehicle 100 may be used as targets for acquiring the density information. The left-hand congestion information may be the reciprocal of the inter-vehicle distance between two other vehicles 200, or the average value of the reciprocals of the inter-vehicle distances between three or more other vehicles 200, or the number of other vehicles 200 located within a specified area, or the time interval between overtaking by a saddle-type vehicle 100, or any other physical quantity that can be substantially converted into any of these.

[0033] Furthermore, the determination unit 23 acquires right-side relative speed information, which is information indicating the relative speed of other vehicles 200 belonging to the right-side vehicle train VL2 with respect to the saddle-ride type vehicle 100, based on positional relationship information between the saddle-ride type vehicle 100 and objects located around the saddle-ride type vehicle 100, which is acquired by the acquisition unit 21 as ambient environment information for the saddle-ride type vehicle 100. The right-side vehicle train VL2 is defined as a vehicle train that is to the right of the traveling line DL of the saddle-ride type vehicle 100 and whose distance from the traveling line DL is less than a reference value (i.e., a vehicle train located in the traveling lane L2 in FIG. 3). The other vehicle 200 from which the relative speed is acquired should preferably be the vehicle that is closest in relative distance to the saddle-ride type vehicle 100. Furthermore, the right-side relative speed information may be information indicating the average relative speed of multiple other vehicles 200 belonging to the right-side vehicle train VL2 with respect to the saddle-ride type vehicle 100. Of the vehicles located to the right of the driving line DL of the saddle riding type vehicle 100, vehicles whose relative distance to the saddle riding type vehicle 100 is below a reference value may be selected as the vehicle for which relative speed is to be acquired. Furthermore, for the right relative speed information, another vehicle 200 located to the right front of the saddle riding type vehicle 100 may be the vehicle for which relative speed is to be acquired, or another vehicle 200 located to the right of or to the right rear of the saddle riding type vehicle 100 may be the vehicle for which relative speed is to be acquired. The right relative speed information may be a speed difference in a direction parallel to the driving line DL of the saddle riding type vehicle 100, may be a differential value of the inter-vehicle distance, or may be any other physical quantity that can be substantially converted into any of these.

[0034] The determination unit 23 also acquires right-side density information, which is information indicating the density of multiple other vehicles 200 belonging to the right-side vehicle train VL2, based on positional relationship information between the saddle-ride vehicle 100 and objects located around the saddle-ride vehicle 100, which is acquired by the acquisition unit 21 as ambient environment information for the saddle-ride vehicle 100. Other vehicles 200 located to the right of the traveling line DL of the saddle-ride vehicle 100 whose relative distance to the saddle-ride vehicle 100 is below a reference value may be selected as targets for acquiring the density information. Furthermore, for the right-side density information, other vehicles 200 located to the right front of the saddle-ride vehicle 100 may be targets for acquiring the density information, or other vehicles 200 located to the right or rear of the saddle-ride vehicle 100 may be targets for acquiring the density information. The right-hand congestion information may be the reciprocal of the inter-vehicle distance between two other vehicles 200, or the average value of the reciprocals of the inter-vehicle distances between three or more other vehicles 200, or the number of other vehicles 200 located within a specified area, or the time interval between overtaking by a saddle-type vehicle 100, or any other physical quantity that can be substantially converted into any of these.

[0035] The determination unit 23 determines that a saddle-type vehicle 100 is passing through a line of vehicles when the left relative speed information indicates a relative speed below a standard, the left density information indicates a density above the standard, the right relative speed information indicates a relative speed below the standard, and the right density information indicates a density above the standard.

[0036] The determination unit 23 may use other methods to determine whether the saddle-ride type vehicle 100 is passing through a convoy of vehicles. For example, the determination unit 23 determines that the saddle-ride type vehicle 100 is not passing through a convoy of vehicles when it can be estimated, based on the output of the surrounding environment detection device 11 and / or the running state detection device 12 of the saddle-ride type vehicle 100, that the road on which the saddle-ride type vehicle 100 is traveling has a single traveling lane. The determination unit 23 may also estimate the future traveling state of the saddle-ride type vehicle 100 based on the output of the surrounding environment detection device 11 and / or the running state detection device 12 of the saddle-ride type vehicle 100, and determine, based on the result, whether the saddle-ride type vehicle 100 is passing through a convoy of vehicles.

[0037] When the determination unit 23 determines that the saddle-riding vehicle 100 is passing through a convoy while the driver assistance operation of the host vehicle, which assists the driver of the saddle-riding vehicle 100, is enabled, the execution unit 22 changes the mode of the host vehicle driver assistance operation from the normal mode to a special mode specialized for passing through a convoy. For example, in the special mode, the execution unit 22 forcibly cancels or suspends cruise control operation or adaptive cruise control operation. In addition, in the special mode, the execution unit 22 forcibly reduces the target speed of the cruise control operation or adaptive cruise control operation by a predetermined amount or to a predetermined value. In addition, in the special mode, the execution unit 22 forcibly prohibits or weakens a warning by a forward collision prevention operation. In addition, in the special mode, the execution unit 22 forcibly prohibits or weakens a warning by a blind-spot vehicle warning operation. In addition, in the special mode, the execution unit 22 forcibly reduces the acceleration occurring in the saddle-riding vehicle 100 by a predetermined amount or to a predetermined value. In addition, in the special mode, the execution unit 22 starts turning on or blinking the headlight device 60. In addition, in the special mode, the execution unit 22 changes the illumination of the headlight device 60 to high beam.

[0038] When the determination unit 23 determines that the saddle type vehicle 100 is passing through a convoy of vehicles, the execution unit 22 executes a communication operation of transmitting a trigger signal to the control device 120 of the other vehicle driver assistance system 110 via wireless communication. The execution unit 22 may transmit any signal as the trigger signal. For example, the trigger signal may be the determination result of the determination unit 23, or may be a control command for the other vehicle driver assistance system 110. The trigger signal may be transmitted directly to the control device 120 of the other vehicle driver assistance system 110, or may be transmitted indirectly via another communication medium (e.g., an Internet server, a portable wireless terminal, etc.). Surrounding environment information and / or traveling state information of the saddle type vehicle 100 acquired by the acquisition unit 21 may be transmitted as the trigger signal, or in addition to the trigger signal. On the other hand, when the determination unit 23 determines that the saddle type vehicle 100 is not passing through a convoy of vehicles, the execution unit 22 does not execute the communication operation, or executes a communication operation of transmitting a separate signal to that effect.

[0039] The execution unit 22 identifies other vehicles 200 located around the saddle-ride type vehicle 100 based on the ambient environment information of the saddle-ride type vehicle 100 acquired by the acquisition unit 21, and transmits a trigger signal to the identified other vehicles 200. In particular, the execution unit 22 may identify other vehicles 200 that belong to either of two vehicle trains (i.e., the left vehicle train VL1 or the right vehicle train VL2) that form a gap through which the saddle-ride type vehicle 100 can pass, and transmit a trigger signal to the identified other vehicles 200. Furthermore, the execution unit 22 may identify other vehicles 200 that are located in front of or to the side of the saddle-ride type vehicle 100, and transmit a trigger signal to the identified other vehicles 200. Furthermore, when there is another saddle-ride type vehicle 300 following the saddle-ride type vehicle 100 and passing through a line of vehicles, the execution unit 22 may identify the other vehicle 200 located in front of or to the side of the other saddle-ride type vehicle 300, and transmit a trigger signal to the identified other vehicle 200. For example, based on positional relationship information between the saddle-ride type vehicle 100 and objects located around the saddle-ride type vehicle 100, which is acquired by the acquisition unit 21 as ambient environment information for the saddle-ride type vehicle 100, the execution unit 22 may identify the other saddle-ride type vehicle 300 that is traveling behind the saddle-ride type vehicle 100 and at a distance from the traveling line DL of the saddle-ride type vehicle 100 that is less than a reference value, and acquire rear relative speed information that is information indicating the relative speed of the other saddle-ride type vehicle 300 with respect to the saddle-ride type vehicle 100. When the rear relative speed information indicates a relative speed below a reference value, the execution unit 22 determines that another saddle-ride type vehicle 300 is following the saddle-ride type vehicle 100 and passing through a convoy of vehicles. Furthermore, when the group traveling mode is enabled in the saddle-ride type vehicle 100 and the saddle-ride type vehicle 100 is not traveling at the rear of the group, the execution unit 22 determines that there is another saddle-ride type vehicle 300 following the saddle-ride type vehicle 100 and passing through a convoy of vehicles. The group traveling mode is a mode in which the saddle-ride type vehicle 100 travels together with other saddle-ride type vehicles 300 in a group, that is, as a group.The group riding mode may be enabled or disabled automatically by the execution unit 22 based on the ambient environment information of the saddle riding vehicle 100 acquired by the acquisition unit 21, or may be enabled or disabled based on a setting input by the rider. For example, the execution unit 22 determines whether another saddle riding vehicle 300 has been traveling near the saddle riding vehicle 100 for more than a reference time or a reference traveling distance based on the ambient environment information of the saddle riding vehicle 100 acquired by the acquisition unit 21, and automatically enables the group riding mode if the determination is positive.

[0040] The other-vehicle driver assistance system 110 performs an other-vehicle driver assistance operation to assist the driver of the other vehicle 200 in response to a trigger signal transmitted by a communication operation in the execution unit 22 of the control device 20 of the host vehicle driver assistance system 10. Each unit of the other-vehicle driver assistance system 110 may be used exclusively for the other-vehicle driver assistance system 110, or may be shared with other systems. Note that the other-vehicle driver assistance system 110 may perform an assistance operation using other information detected by various detection devices of the other vehicle 200, in addition to the other-vehicle driver assistance operation described below. For example, the other-vehicle driver assistance system 110 may include a surrounding environment detection device 11 similar to the surrounding environment detection device 11 of the host vehicle driver assistance system 10, and the control device 120 may perform an assistance operation based on surrounding environment information of the other vehicle 200.

[0041] With regard to the driving condition detection device 12, setting input device 13, braking device 30, drive device 40, and notification device 50 of the other vehicle driver assistance system 110, explanations of the same contents as those of the driving condition detection device 12, setting input device 13, braking device 30, drive device 40, and notification device 50 of the host vehicle driver assistance system 10 will be omitted.

[0042] The control device 120 of the other vehicle 200 includes an acquisition unit 121, an execution unit 122, and a determination unit 123. The units of the control device 120 may be provided together in one housing, or may be provided separately in multiple housings. Furthermore, some or all of the control device 120 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.

[0043] The acquisition unit 121 acquires information output from each device mounted on the other vehicle 200. For example, the acquisition unit 121 acquires driving state information of the other vehicle 200 based on an output from the driving state detection device 12 of the other vehicle 200.

[0044] The execution unit 122 outputs control commands to various devices of the other vehicle driver assistance system 110 based on the various information acquired by the acquisition unit 121, and executes the other vehicle driver assistance operation to assist the driver of the other vehicle 200. That is, the execution unit 122 executes the other vehicle driver assistance operation when it receives a trigger signal transmitted by a communication operation in the execution unit 22 of the control device 20 of the host vehicle driver assistance system 10. That is, the trigger signal transmitted from the control device 20 is a signal that triggers the start or change of the other vehicle driver assistance operation.

[0045] For example, when the execution unit 122 executes the other vehicle driver assistance operation, the execution unit 122 causes the notification device 50 to execute a notification operation for the driver as necessary. In the notification operation, it is preferable that the driver be notified of which side (right or left) of the other vehicle 200 the saddle-ride type vehicle 100 will pass by. It is also preferable that the driver be notified of the speed or relative speed at which the saddle-ride type vehicle 100 will pass by the side of the other vehicle 200. The notification device 50 may be provided in the other vehicle 200, or may be provided in an accessory (e.g., a helmet, gloves, etc.) of the other vehicle 200 that is communicatively connected to the control device 120, or may be provided in road equipment (e.g., a signboard, a pillar, etc. attached to the road). The execution unit 122 may unconditionally execute the notification operation in response to the trigger signal, or may acquire a collision likelihood index that is an index of the likelihood of a collision between the saddle-ride type vehicle 100 and the other vehicle 200 after receiving the trigger signal, and execute the notification operation if the collision likelihood index indicates that a collision likelihood exceeding a reference value has occurred. The execution unit 122 may acquire the collision likelihood index based on positional relationship information between the saddle-ride type vehicle 100 and the other vehicle 200 transmitted from the control device 20, and execute the notification operation if, for example, the collision likelihood index indicates that the time required for the saddle-ride type vehicle 100 to reach the other vehicle 200 or to reach the side of the other vehicle 200 is shorter than a reference value. The execution unit 122 may acquire the collision likelihood index based on operation state information of the steering device 170 of the driver of the other vehicle 200, and execute the notification operation if, for example, the collision likelihood index indicates that the steering direction performed by the steering device 170 is a direction approaching the driving line DL of the saddle-ride type vehicle 100. The execution unit 122 may acquire a collision likelihood indicator based on operation status information of the direction indicator 180 of the driver of the other vehicle 200, and executes an alarm operation when, for example, the collision likelihood indicator is an indicator indicating that the direction of the direction indicated by the driver using the direction indicator 180 is approaching the driving line DL of the saddle-ride type vehicle 100.The collision likelihood index may be determined by the execution unit 22 of the control device 20, and a trigger signal may be sent to the control device 120 of the other vehicle 200 only when the collision likelihood index is an index indicating that a collision likelihood exceeding a standard has occurred. In other words, whether or not an other vehicle driver assistance operation is performed by the control device 120 of the other vehicle 200, or the other vehicle driver assistance operation, changes depending on the collision likelihood index, which is an index of the collision likelihood between the saddle type vehicle 100 and the other vehicle 200.

[0046] For example, when performing the other vehicle driver assistance operation, the execution unit 122 executes a driving control operation to control the driving of the other vehicle 200 as necessary. For example, as the driving control operation, the execution unit 122 outputs a control command to the braking device 30 or the drive device 40 to cause the other vehicle 200 to perform an automatic acceleration / deceleration operation. Furthermore, as the driving control operation, the execution unit 122 outputs a control command to the steering device 170 to cause the other vehicle 200 to perform an automatic steering operation. The execution unit 122 may execute the driving control operation unconditionally in response to a trigger signal, or may execute a collision likelihood index, which is an index of the likelihood of a collision between the saddle type vehicle 100 and the other vehicle 200, after receiving the trigger signal, and execute the driving control operation if the collision likelihood index is an index indicating that a collision likelihood exceeding a standard has occurred. The execution unit 122 may acquire a collision likelihood index based on positional relationship information between the saddle-ride type vehicle 100 and the other vehicle 200 transmitted from the control device 20, and for example, if the collision likelihood index is an index indicating that the time required for the saddle-ride type vehicle 100 to reach the other vehicle 200 or to reach the side of the other vehicle 200 is shorter than a reference value, the execution unit 122 executes a driving control operation to prevent the other vehicle 200 from approaching the driving line DL of the saddle-ride type vehicle 100. The execution unit 122 may acquire the collision likelihood index based on operation state information of the steering device 170 of the driver of the other vehicle 200, and for example, if the collision likelihood index is an index indicating that the steering direction performed on the steering device 170 is a direction approaching the driving line DL of the saddle-ride type vehicle 100, the execution unit 122 executes a driving control operation to prevent the other vehicle 200 from approaching the driving line DL of the saddle-ride type vehicle 100. The execution unit 122 may acquire a collision likelihood index based on operation status information of the direction indicator 180 of the driver of the other vehicle 200, and for example, when the collision likelihood index is an index indicating that the direction of the direction indicated by the driver using the direction indicator 180 is a direction approaching the driving line DL of the saddle-ride type vehicle 100, the execution unit 122 executes a driving control operation to prevent the other vehicle 200 from approaching the driving line DL of the saddle-ride type vehicle 100.The collision likelihood index may be determined by the execution unit 22 of the control device 20, and a trigger signal may be sent to the control device 120 of the other vehicle 200 only when the collision likelihood index is an index indicating that a collision likelihood exceeding a standard has occurred. In other words, whether or not an other vehicle driver assistance operation is performed by the control device 120 of the other vehicle 200, or the other vehicle driver assistance operation, changes depending on the collision likelihood index, which is an index of the collision likelihood between the saddle type vehicle 100 and the other vehicle 200.

[0047] The determination unit 123 determines whether the execution unit 122 has executed the driver assistance operation for the other vehicle in response to the trigger signal transmitted from the control device 20. When the determination unit 123 determines that the driver assistance operation for the other vehicle has been executed, the execution unit 122 executes a communication operation of transmitting another trigger signal to the control device 20 of the driver assistance system 10 of the host vehicle via wireless communication. The execution unit 122 may transmit any signal as the trigger signal. For example, the trigger signal may be the determination result of the determination unit 123 or may be a control command for the driver assistance system 10 of the host vehicle. The trigger signal may be transmitted directly to the control device 20 of the driver assistance system 10 of the host vehicle, or may be transmitted indirectly via another communication medium (e.g., an Internet server, a portable wireless terminal, etc.). Traveling state information of the other vehicle 200 acquired by the acquisition unit 121 may be transmitted as the trigger signal or in addition to the trigger signal. On the other hand, if the judgment unit 123 determines that the other vehicle driver assistance operation is not being performed, the execution unit 122 either does not perform a communication operation, or performs a communication operation in which a separate signal is sent to communicate that fact.

[0048] When the execution unit 22 receives a trigger signal transmitted by a communication operation of the execution unit 122 of the control device 120 of the other vehicle driver assistance system 110, the execution unit 22 determines whether or not to execute a driver assistance operation of the host vehicle that assists the driver of the saddle riding type vehicle 100, or changes the driver assistance operation of the host vehicle. For example, when the execution unit 22 receives trigger signals from all other vehicles 200 that are located in front of or to the side of the saddle riding type vehicle 100 and whose relative distance to the saddle riding type vehicle 100 is less than a reference value, the execution unit 22 changes the mode of the driver assistance operation of the host vehicle from a special mode specialized for passing through a convoy to a normal mode. In other words, whether or not to execute a driver assistance operation of the host vehicle that is executed by the control device 20 of the saddle riding type vehicle 100, or the driver assistance operation of the host vehicle, changes depending on whether or not the control device 120 of the other vehicle 200 executes a driver assistance operation of the other vehicle. In other words, the trigger signal transmitted from the control device 120 is a signal that triggers the start or change of a driver assistance operation of the host vehicle.

[0049] <Operation of the support system> The operation of the support system according to the embodiment will be described. 4 is a diagram for explaining an example of the operation of the assistance system according to the embodiment of the present invention. Note that the order of the steps may be changed as appropriate, any step may be omitted as appropriate, or another step may be added as appropriate.

[0050] The assistance system 1 repeatedly executes the operations shown in FIG. 4 while the saddle-ride type vehicle 100 is traveling and while the other vehicle 200 is traveling or stopped.

[0051] (Acquisition step) In step S101, the acquisition unit 21 of the control device 20 of the host vehicle driver assistance system 10 acquires information output from each device mounted on the saddle-ride type vehicle 100. For example, the acquisition unit 21 acquires ambient environment information of the saddle-ride type vehicle 100 based on output from the ambient environment detection device 11, and acquires running state information of the saddle-ride type vehicle 100 based on output from the running state detection device 12 of the saddle-ride type vehicle 100.

[0052] (Steps to be taken) Next, in step S102, the execution unit 22 of the control device 20 of the host vehicle driver assistance system 10 outputs signals to various devices of the host vehicle driver assistance system 10 based on the various information acquired in step S101, and executes the host vehicle driver assistance operation to assist the driver of the saddle-ride type vehicle 100.

[0053] (Decision step) Next, in step S103, the determination unit 23 of the control device 20 of the host vehicle driver assistance system 10 determines whether or not the saddle-ride type vehicle 100 is passing through a convoy of vehicles, based on the ambient environment information of the saddle-ride type vehicle 100 acquired by the acquisition unit 21. If it is determined that the saddle-ride type vehicle 100 is passing through a convoy of vehicles, the process proceeds to step S104, and if it is determined that the saddle-ride type vehicle 100 is not passing through a convoy of vehicles, the process returns to step S101.

[0054] (Steps to be taken) Next, in step S104, the execution unit 22 of the control device 20 of the host vehicle driver assistance system 10 changes the mode of the host vehicle driver assistance operation from the normal mode to a special mode specialized for passing through a line of vehicles while the host vehicle driver assistance operation that assists the driver of the saddle-ride type vehicle 100 is enabled.

[0055] (Steps to be taken) Subsequently, in step S105, the execution unit 22 of the control device 20 of the driver assistance system 10 of the host vehicle executes a communication operation to transmit a trigger signal to the control device 120 of the driver assistance system 110 of the other vehicle via wireless communication.

[0056] (Acquisition step) Next, in step S106, the acquisition unit 121 of the control device 120 of the other vehicle driver assistance system 110 acquires information output from each device mounted on the other vehicle 200. For example, the acquisition unit 121 acquires driving state information of the other vehicle 200 based on an output from the driving state detection device 12 of the other vehicle 200.

[0057] (Steps to be taken) Next, in step S107, the execution unit 122 of the control device 120 of the other vehicle driver assistance system 110 outputs signals to various devices of the other vehicle driver assistance system 110 based on the various information acquired in step S106, and performs other vehicle driver assistance operations to assist the driver of the other vehicle 200.

[0058] (Decision step) Subsequently, in step S108, the determination unit 123 of the control device 120 of the other vehicle driver assistance system 110 determines whether or not the other vehicle driver assistance operation was performed in step S107. If it is determined that the other vehicle driver assistance operation was performed, the process proceeds to step S109, and if it is determined that the other vehicle driver assistance operation was not performed, the process returns to step S101.

[0059] (Steps to be taken) Subsequently, in step S109, the execution unit 122 of the control device 120 of the other vehicle driver assistance system 110 executes a communication operation to transmit a trigger signal to the control device 20 of the driver assistance system 10 of the host vehicle via wireless communication.

[0060] (Steps to be taken) Next, in step S110, the execution unit 22 of the control device 20 of the host vehicle driver assistance system 10 changes the mode of the host vehicle driver assistance operation from a special mode specialized for passing through a convoy of vehicles to a normal mode while the host vehicle driver assistance operation that assists the driver of the saddle-ride vehicle 100 is enabled.

[0061] <Effects of the support system> The effects of the support system according to the embodiment will be described.

[0062] In the assistance system 1, ambient environment information for the saddle-ride type vehicle 100 is acquired based on the output of at least one ambient environment detection device 11, and whether or not the saddle-ride type vehicle 100 is passing through a convoy is determined based on the ambient environment information. If it is determined that the saddle-ride type vehicle 100 is passing through a convoy, a trigger signal is transmitted via wireless communication from the control device 20 of the saddle-ride type vehicle 100 to the other control device 120. If the other control device 120 receives the trigger signal, it executes an other-vehicle driver assistance operation to assist the driver of the other vehicle 200 located in the vicinity of the saddle-ride type vehicle 100. This makes it possible to appropriately respond to the unique characteristics of the driving of the saddle-ride type vehicle 100.

[0063] Preferably, the other control device 120 performs, as the other vehicle driver assistance operation, a notification operation for the driver of the other vehicle 200. Furthermore, the other control device 120 performs, as the other vehicle driver assistance operation, a driving control operation for controlling the driving of the other vehicle 200. By being configured in this manner, assistance to the driver of the other vehicle 200 is made appropriate.

[0064] Preferably, the other control device 120 changes whether or not to perform an other vehicle driver assistance operation, or changes the other vehicle driver assistance operation, depending on the collision likelihood index, which is an index of the likelihood of a collision between the saddle-ride type vehicle 100 and the other vehicle 200. By being configured in this manner, assistance for the driver of the other vehicle 200 is optimized.

[0065] Preferably, the execution unit 22 of the control device 20 determines whether or not to execute a driver assistance operation of the subject vehicle that assists the driver of the saddle-ride type vehicle 100, or changes the driver assistance operation of the subject vehicle, depending on whether or not the other control device 120 executes a driver assistance operation of the other vehicle. By being configured in this manner, assistance to the driver of the saddle-ride type vehicle 100 is optimized.

[0066] The embodiments of the present invention are not limited to the above description. That is, the present invention includes modifications to the above-described embodiments. The present invention also includes embodiments in which only a part of the above-described embodiments is implemented.

[0067] For example, the above describes a case where the execution unit 22 of the control device 20 executes a host vehicle driver assistance operation to assist the driver of the saddle-ride type vehicle 100, but the execution unit 22 of the control device 20 may not execute a host vehicle driver assistance operation.

[0068] For example, the above describes a case where the judgment unit 23 of the control device 20 judges whether or not the saddle-ride vehicle 100 is passing through a line of vehicles based solely on information acquired by the acquisition unit 21 of the control device 20, but the judgment unit 23 of the control device 20 may also judge whether or not the saddle-ride vehicle 100 is passing through a line of vehicles by taking into account information acquired by the acquisition unit 121 of another control device 120.

[0069] For example, although the above describes a case where the other control device 120 is provided in the other vehicle 200, the other control device 120 may also be provided in an accessory of the other vehicle 200 (e.g., a helmet, gloves, etc.), or in road equipment (e.g., a signboard, a pillar, etc. attached to the road), or in other communication media (e.g., an Internet server, a portable wireless terminal, etc.). [Explanation of symbols]

[0070] 1 Assistance system, 10 Vehicle driver assistance system, 11 Surrounding environment detection device, 12 Driving state detection device, 13 Setting input device, 20, 120 Control device, 21, 121 Acquisition unit, 22, 122 Execution unit, 23, 123 Determination unit, 30 Braking device, 40 Drive device, 50 Notification device, 60 Headlight device, 100, 300 Saddle-type vehicle, 110 Other vehicle driver assistance system, 170 Steering device, 180 Turn indicator, 200 Other vehicle.

Claims

1. An assistance system (1) including a control device (20) for a saddle-ride type vehicle (100) equipped with at least one surrounding environment detection device (11), The control device (20) a determination unit (23) that determines whether the saddle-ride type vehicle (100) is passing through a line of vehicles based on an output of the surrounding environment detection device (11); an execution unit (22) that executes a communication operation to transmit a trigger signal to another control device (120) via wireless communication when the determination unit (23) determines that the vehicle is passing through a line of vehicles; It is equipped with When the other control device (120) receives the trigger signal, it executes an other-vehicle driver assistance operation to assist a driver of another vehicle (200) located in the vicinity of the saddle-ride type vehicle (100), The other control device (120) executes a driving control operation to control driving of the other vehicle (200) as the other vehicle driver assistance operation, The driving control operation includes an automatic acceleration / deceleration operation that automatically causes acceleration or deceleration in the other vehicle (200). Support system (1).

2. The other control device (120) executes an informing operation for the driver of the other vehicle (200) as the other vehicle driver assistance operation. Assistance system (1) according to claim 1.

3. The other control device (120) outputs a control command to an alarm device (50) mounted on the other vehicle (200) to perform the alarm operation. Assistance system (1) according to claim 2.

4. The other control device (120) outputs a control command to an alarm device (50) provided in an accessory of the other vehicle (200) that is communicably connected to the other control device (120), thereby executing the alarm operation. Assistance system (1) according to claim 2 or 3.

5. The other control device (120) outputs a control command to an alarm device (50) provided in the road facility to perform the alarm operation. Assistance system (1) according to claim 2 or 3.

6. The other vehicle driver assistance operation is an operation to assist the driver of the other vehicle (200) identified as a vehicle belonging to one of two vehicle trains (VL1, VL2) that form a gap through which the saddle-ride type vehicle (100) passes. An assistance system (1) according to any one of claims 1 to 3.

7. The other vehicle driver assistance operation is an operation to assist the driver of the other vehicle (200) identified as a vehicle located in front of or to the side of the saddle-ride type vehicle (100). An assistance system (1) according to any one of claims 1 to 3.

8. The other vehicle driver assistance operation is an operation to assist the driver of the other vehicle (200) identified as a vehicle located in front of or to the side of another saddle-ride type vehicle (300) following the saddle-ride type vehicle (100) and passing through a line of vehicles. An assistance system (1) according to any one of claims 1 to 3.

9. The other control device (120) changes whether or not to perform the other vehicle driver assistance operation or the other vehicle driver assistance operation according to a collision likelihood index that is an index of the possibility of a collision between the saddle-ride type vehicle (100) and the other vehicle (200). An assistance system (1) according to any one of claims 1 to 3.

10. The collision likelihood index is acquired based on positional relationship information between the saddle-ride type vehicle (100) and the other vehicle (200). Assistance system (1) according to claim 9.

11. The collision likelihood index is acquired based on operation state information of a steering device (170) of the driver of the other vehicle (200). Assistance system (1) according to claim 9.

12. The collision likelihood index is acquired based on operation state information of a turn signal (180) of the driver of the other vehicle (200). Assistance system (1) according to claim 9.

13. The execution unit (22) changes whether or not to execute a driver assistance operation of the host vehicle that assists the driver of the saddle-ride type vehicle (100) depending on whether or not the other control device (120) executes the driver assistance operation of the other vehicle. An assistance system (1) according to any one of claims 1 to 3.

14. A control method for an assistance system (1) including a control device (20) for a saddle-ride type vehicle (100) equipped with at least one surrounding environment detection device (11), comprising: a determination unit (23) of the control device (20) determines whether the saddle-ride type vehicle (100) is passing through a line of vehicles based on the output of the surrounding environment detection device (11); an execution unit (22) of the control device (20) executes a communication operation to transmit a trigger signal to another control device (120) via wireless communication when the determination unit (23) determines that the vehicle is passing through a line of vehicles; When the other control device (120) receives the trigger signal, it executes an other-vehicle driver assistance operation to assist a driver of another vehicle (200) located in the vicinity of the saddle-ride type vehicle (100), The other control device (120) executes a driving control operation to control the driving of the other vehicle (200) as the other vehicle driver assistance operation, The driving control operation includes an automatic acceleration / deceleration operation that automatically causes acceleration or deceleration in the other vehicle (200). Control method.

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