Motorcycle driving assistance system

Abstract

To provide a two-wheeled motor vehicle operation support system which can reduce burden of a rider when retracting and delivering from a parking space.SOLUTION: A two-wheeled motor vehicle operation support system 1 comprises: a driving power output device 82 which generates retraction output for reversely rotating a drive wheel and retreating a vehicle body; a brake lever 810 of which gripping can be operated by a rider; an ACC main switch 43 and an ACC lever 44 which can be operated by the rider; and a retraction / delivery support control part 64 which controls the driving power output device 82 on the basis of operations of the brake lever 810, and the ACC main switch 43 and the ACC lever 44. The retraction / delivery support control part 64 causes the driving power output device 82 to generate the retraction output as an opportunity to receive an operation for tilting to an ACC lever 44 "SET / -" side, and thereafter, continues generation of the retraction output until the brake lever 810 is operated or the ACC main switch 43 and the ACC lever 44 are turned OFF.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance system for a motorcycle, and more particularly to a driving assistance system for a motorcycle having a reverse function that moves the vehicle body backward by rotating the wheels in the opposite direction. [Background technology]

[0002] Unlike four-wheeled vehicles, motorcycles are often parked in a parking space with the front of the vehicle facing the back of the parking space, which is called forward parking. When parking forward like this, the rider needs to support the vehicle and back it up by themselves when leaving the parking space.

[0003] The larger the motorcycle, the more difficult it becomes to pull out of a parking lot. For this reason, some large motorcycles are equipped with a reverse function that reverses the vehicle by using the driving force generated by a power source mounted on the vehicle to rotate the drive wheels in reverse. For example, Patent Document 1 describes an invention in which the vehicle is reversed using a starter motor for starting the engine. Motorcycles equipped with such a reverse function can be reversed simply by operating switches located at the base of the handlebar grips, making them particularly convenient when pulling out of a parking lot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 62-221927 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the invention disclosed in Patent Document 1, the rider needs to keep the starter motor energized to continue moving the vehicle backward, so he or she needs to keep pressing a switch located at the base of the handlebar grip. When leaving a parking lot, the rider needs to keep holding the handlebar grip while paying attention to what is behind them to prevent the vehicle from tipping over. Furthermore, if there are other motorcycles parked on the left and right of the vehicle, the rider needs to keep paying attention to both the left and right sides of the vehicle in addition to what is behind them. As such, when leaving a parking lot, the rider needs to keep paying attention to what is behind and to the left and right of the vehicle while holding the handlebar grip to prevent the vehicle from tipping over, so the operation of keeping the switch pressed down places a great burden on the rider.

[0006] An object of the present invention is to provide a motorcycle driving assistance system that can reduce the burden on the rider when backing out of a parking space. [Means for solving the problem]

[0007] (1) A motorcycle driving assistance system according to the present invention (for example, driving assistance system 1 described below) includes a wheel drive device (for example, driving force output device 82 described below) that rotates the wheels in the normal direction and generates a forward output for moving the vehicle body forward, or a reverse output for rotating the wheels in the reverse direction and moving the vehicle body backward, a brake lever that can be held and operated by a rider (for example, brake lever 810 described below), control switches that can be operated by the rider (for example, ACC main switch 43 and ACC lever 44 described below), and a reverse assistance control unit (for example, reverse exit support control unit 64 described below) that controls the wheel drive device based on operation of the brake lever and the control switch, and the reverse assistance control unit generates the reverse output in response to an ON operation of the control switch, and then continues to generate the reverse output until the brake lever is operated or the control switch is turned OFF.

[0008] (2) In this case, it is preferable that the driving assistance system further includes a rear sensor (e.g., a rear radar unit 23 described later) that detects an object behind the vehicle body, and that the reverse assistance control unit stops the reverse output when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed.

[0009] (3) In this case, the driving assistance system preferably further includes an alarm device (e.g., alarm device 40 described below) that issues an alarm to the rider, and when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed, the reverse assistance control unit preferably issues an alarm using the alarm device and stops the reverse output.

[0010] (4) In this case, it is preferable that the driving assistance system further includes a reversing distance measurement unit (e.g., a reversing distance sensor described below) that measures the reversing distance of the vehicle body, and that the reversing assistance control unit stops the reversing output when the reversing distance reaches a predetermined distance after the vehicle body starts reversing.

[0011] (5) In this case, it is preferable that the reverse assist control unit stops the reverse output if, after generating the reverse output, the vehicle body remains stopped for a predetermined period of time or more due to the brake lever being operated. [Effects of the Invention]

[0012] (1) A motorcycle driving assistance system according to the present invention includes a wheel drive unit that generates a reverse output to rotate the wheels in reverse and move the vehicle backward, a brake lever that can be gripped and operated by the rider, a control switch that can be operated by the rider, and a reverse assistance control unit that controls the wheel drive unit based on the operation of the brake lever and the control switch. The reverse assistance control unit generates a reverse output to the vehicle drive unit and starts moving the vehicle backward when the control switch is turned on. After generating the reverse output, the reverse assistance control unit continues to generate the reverse output until the brake lever is operated or the control switch is turned off. Therefore, when backing the vehicle out of a parking space, the rider can continue to move the vehicle backward simply by turning on the control switch at the beginning, and there is no need to continue turning on the control switch. Therefore, according to the present invention, the rider can concentrate on maintaining balance and gripping the handlebar grips to prevent the vehicle from tipping over while paying attention to the rear and sides of the vehicle, thereby reducing the burden on the rider when backing out of a parking space. Furthermore, according to the present invention, by reducing the burden on the rider when backing out, it is possible to prevent contact with other vehicles and the vehicle tipping over when backing out, thereby improving traffic safety.

[0013] (2) In the present invention, the reverse assist control unit stops the reverse output when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed. Therefore, according to the present invention, if another vehicle approaches the vehicle while the vehicle body is being reversed, the vehicle automatically stops, thereby reducing contact with the other vehicle and ultimately improving traffic safety.

[0014] (3) In the present invention, when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed, the reverse assist control unit issues an alarm using the alarm device and stops the reverse output. Therefore, according to the present invention, the rider can quickly understand that the reason the reverse of the vehicle body has automatically stopped is because another vehicle is approaching, and can immediately resume reverse of the vehicle body after confirming that the other vehicle has passed.

[0015] (4) The size of parking spaces and the width of passages adjacent to parking spaces are often the same from country to country. Therefore, the required reverse distance when backing out of a parking space is also often generally the same. Therefore, in the present invention, the reverse assist control unit stops the reverse output when the reverse distance reaches a predetermined distance after the vehicle starts to reverse. Therefore, according to the present invention, after the rider starts to reverse the vehicle by turning on the control switch, the vehicle automatically stops when the reverse distance reaches the predetermined distance without operating the brake lever, control switch, or the like. This further reduces the burden on the rider when backing out of a parking space and ultimately further improves traffic safety.

[0016] (5) In the present invention, after generating a reverse output, if the vehicle body is stopped by operating the brake lever for a predetermined period of time or more, the reverse assist control unit stops the reverse output. Therefore, according to the present invention, even if the reverse speed temporarily becomes zero while the rider is reversing the vehicle body while adjusting the reverse speed by operating the brake lever, the reverse output will not immediately stop, thereby improving convenience. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram schematically illustrating a configuration of a driving assistance system according to an embodiment of the present invention. [Figure 2] 4 is a flowchart showing a specific procedure for backward leaving-station support control by a backward leaving-station support control unit (part 1). [Figure 3] 10 is a flowchart showing a specific procedure for the backward leaving-station support control by the backward leaving-station support control unit (part 2). [Figure 4] 10 is a flowchart showing a specific procedure of the backward leaving-station support control by the backward leaving-station support control unit (part 3). [Figure 5] 10 is a flowchart showing a specific procedure for the backward leaving-station support control by the backward leaving-station support control unit (part 4). [Figure 6]10 is a flowchart showing a specific procedure of the backward leaving-station support control by the backward leaving-station support control unit (part 5). [Figure 7] 10 is a flowchart showing a specific procedure of the backward leaving-station support control by the backward leaving-station support control unit (part 6). [Figure 8] 10 is a flowchart showing a specific procedure of the backward leaving-station support control by the backward leaving-station support control unit (part 7). [Figure 9] FIG. 10 is a diagram showing an example of a function-on image indicating that the backward leaving-factory support function is on. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, the configuration of a driving assistance system according to an embodiment of the present invention will be described with reference to the drawings.

[0019] FIG. 1 is a diagram showing the configuration of a driving assistance system 1 according to this embodiment. The driving assistance system 1 is mounted on a motorcycle (not shown). The drive source that rotates the drive wheels (rear wheels) of this motorcycle may be an internal combustion engine, a rotating electric machine, or a combination of these. The power source for the rotating electric machine may be a secondary battery, a capacitor, or a fuel cell. The following description will be given of the case where an internal combustion engine is used as the drive source, but the present invention is not limited to this.

[0020] The driving assistance system 1 assists the driver in safe driving of a motorcycle. Among the various driving assistance functions realized by this driving assistance system 1, the following will explain an ACC function that automatically controls at least one of the following distance to a vehicle in front and the vehicle speed of the vehicle (hereinafter also referred to as "vehicle speed") to follow the vehicle in front, and a back-out assistance function that assists the rider in driving when backing out of a parking space.

[0021] The driving assistance system 1 includes an external sensor unit 2, a vehicle sensor unit 3, a human-machine interface 4 (hereinafter abbreviated as "HMI 4"), a navigation device 5, a driving assistance control device 6, a driving operator 81, a driving force output device 82, and a braking device 83. These devices are connected to each other by multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc.

[0022] The external sensor unit 2 is composed of a camera unit 21, a front radar unit 22, a rear radar unit 23, an external recognition device 24, and the like.

[0023] The camera unit 21 includes a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera unit 21 is attached to any position on the front of the vehicle (e.g., the front windshield, mirror, etc.) while facing forward. The front radar unit 22 and the rear radar unit 23 include millimeter-wave radar that detects objects by measuring the reflected waves from the object in response to millimeter-wave irradiation. The front radar unit 22 is attached to any position on the front of the vehicle (e.g., the front windshield, mirror, etc.) while facing forward, and detects objects in front of the vehicle. The rear radar unit 23 is attached to any position on the rear of the vehicle (e.g., near the tail lamp and near the left and right turn signals) while facing rearward, and detects objects behind and on both sides of the vehicle.

[0024] The external recognition device 24 is a computer that acquires information about the state ahead of the vehicle, more specifically, information such as the position, shape, type, and speed of roads and objects ahead of the vehicle, and the contents of road signs (hereinafter collectively referred to as "forward information"), and information about objects behind the vehicle (hereinafter referred to as "rearward information"), by performing sensor fusion processing on the detection results from some or all of the camera unit 21, the front radar unit 22, and the rear radar unit 23. The external recognition device 24 transmits the acquired forward information and rearward information to, for example, the driving assistance control device 6.

[0025] The vehicle sensor unit 3 includes an encoder that generates pulse signals at intervals corresponding to the rotational speed of the wheels, a vehicle speed sensor that detects the vehicle speed by counting the number of pulses output from the encoder when the wheels are rotating forward, a reversing distance sensor that measures the reversing distance by counting the number of pulses output from the encoder when the wheels are rotating backward, and a five- or six-axis inertial measurement unit. The inertial measurement unit detects the angles or angular velocities and accelerations of three axes (roll axis, pitch axis, and yaw axis) of the vehicle body. The detection signals of the vehicle sensor unit 3 are transmitted to, for example, a driving assistance control device 6.

[0026] The HMI 4 is composed of multiple interfaces that present various information to the vehicle occupants and accept input operations by the occupants. Of the multiple interfaces that make up the HMI 4, Fig. 1 illustrates only an alarm device 40, a display 41, an ACC function indicator light 42, an ACC main switch 43, and an ACC lever 44, which are particularly related to the ACC function and the reverse exit assist function.

[0027] The warning device 40 issues a warning to the rider in a manner that can be recognized by the rider, based on a command from the driving assistance control device 6. More specifically, the warning device 40 is, for example, a speaker that issues a warning sound.

[0028] The display 41 is provided in a position visible to the rider while driving, and displays images in response to commands from a display control unit 65 (described later) of the driving assistance control device 6. The display 41 displays information related to the ACC function (described later), information related to the backing out assistance function, and the like.

[0029] The ACC main switch 43 and the ACC lever 44 have different functions when the gear position of the driving force output device 82 is "D (drive)" (i.e., a state in which forward movement is possible) and when the gear position is "N (neutral)" or "R (reverse)" (i.e., a state in which forward movement is not possible).

[0030] When the gear position is at least "D," the ACC main switch 43 is pressed by the rider to switch on / off the ACC function by the driving assistance control device 6. The ACC main switch 43 is provided, for example, at the base of the accelerator grip.

[0031] In addition, the ACC main switch 43 is pressed by the rider when switching on / off the reverse exit assistance function by the driving assistance control device 6, at least when the gear position is "N" or "R," more specifically, when the assistance acceptance condition described below (see step ST1 in Figure 2) is met.

[0032] The ACC lever 44 is tilted by the rider at least when the gear position is "D" to change the set speed of the ACC function or to switch the ACC function from standby to on. This ACC lever 44 can be tilted from the neutral position to either the "RES / +" side or the "SET / -" side. This ACC lever 44 is provided, for example, at the base of the accelerator grip.

[0033] More specifically, when the rider tilts the ACC lever 44 toward the "SET / -" side while the ACC function by the driving assistance control device 6 is in a standby state, the ACC function transitions to an ON state and the vehicle speed at that time is set as the set vehicle speed. Also, when the rider tilts the ACC lever 44 toward the "RES / +" side while the ACC function by the driving assistance control device 6 is in a standby state, a value stored in a memory (not shown) (the set vehicle speed when the function was in the ON state immediately before) is set as the set vehicle speed, and the ACC function transitions to an ON state.

[0034] Furthermore, when the ACC function by the driving assistance control device 6 is on and the vehicle speed is equal to or higher than a predetermined speed, if the rider tilts the ACC lever 44 toward the "RES / +" side, the set vehicle speed is increased by a predetermined unit speed (for example, 1 [km / h]). Furthermore, when the ACC function by the driving assistance control device 6 is on and the vehicle speed is equal to or higher than a predetermined speed, if the rider tilts the ACC lever 44 toward the "SET / -" side, the set vehicle speed is decreased by a unit speed.

[0035] In addition, the ACC lever 44 is tilted by the rider when starting to reverse the vehicle body using the reverse exit assistance function or when temporarily stopping the reverse of the vehicle body when at least the gear position is "N" or "R," more specifically, when the assistance acceptance condition described below (see step ST1 in Figure 2) is met.

[0036] More specifically, when the rider tilts the ACC lever 44 toward the "SET / -" side while the reverse exit assist function by the driving assist control device 6 is on, this triggers the generation of reverse output, causing the vehicle body to start moving backward. Also, if the rider tilts the ACC lever 44 toward the "RES / +" side while the reverse output is being generated, the reverse output is temporarily stopped, causing the vehicle body to stop.

[0037] As described above, in this embodiment, the ACC function used when moving the vehicle forward and the reverse exit support function used when moving the vehicle backward are not used at the same time, so the ACC main switch 43 and the ACC lever 44 are shared by the ACC function and the reverse exit support function.

[0038] The ACC function indicator light 42 can be illuminated in a number of different colors, such as red, green, and white. The ACC function indicator light 42 is provided in a position visible to the rider while driving. When the ACC function is on and vehicle-to-vehicle distance control, which will be described later, is being executed, the ACC function indicator light is illuminated in red. When the ACC function is on and vehicle speed control, which will be described later, is being executed, the ACC function indicator light is illuminated in green. When the ACC function is in a standby state, the ACC function indicator light is illuminated in white. When the ACC function is in an off state, the ACC function indicator light is extinguished. Therefore, when the ACC main switch 43 is turned on by the rider, the ACC function indicator light is illuminated in any of red, green, and white. When the ACC main switch 43 is turned off by the rider, the ACC function indicator light is extinguished.

[0039] The navigation device 5 includes, for example, a GNSS (Global Navigation Satellite System) receiver that identifies the current position of the vehicle based on signals received from GNSS satellites, a storage device that stores map information, etc. Here, the map information also includes information about road signs. The navigation device 5 transmits information about the current position of the vehicle to the driving assistance control device 6 together with the map information of the current position.

[0040] The driving controls 81 are made up of a plurality of controls that are operated by the rider when driving the vehicle, sensors that detect the amount of operation of these controls, etc. Of these controls and sensors, only a brake lever 810, a brake lever switch 811, an oil pressure sensor 812, a brake pedal switch 813, a stand switch 814, a main switch 815, a starter switch 816, a shift switch 817, and a parking brake switch 818 that are particularly related to the ACC function and the reverse exit assist function are shown in Figure 1.

[0041] The brake lever 810 can be gripped and operated by the rider with his / her right hand in order to brake the front wheel with the brake device 83. The brake lever switch 811 is a sensor that detects the on / off operation of the brake lever 810 by the rider, i.e., whether or not the rider is gripping the brake lever 810. The brake lever switch 811 transmits a signal corresponding to the on / off operation of the brake lever 810 to the driving assistance control device 6. The oil pressure sensor 812 is a sensor that detects the oil pressure of the hydraulic circuit in the braking device 83. A signal corresponding to the detection value of the oil pressure sensor 812 is transmitted to the driving assistance control device 6. Therefore, the amount of operation of the brake lever 810 by the rider is calculated by processing (not shown) in the driving assistance control device 6 based on the detection value of the oil pressure sensor 812.

[0042] The brake pedal switch 813 is a sensor that detects the on / off operation of a brake pedal (not shown) that the rider can operate by stepping on it with his right foot in order to brake the rear wheel with the brake device 83. The brake pedal switch 813 transmits a signal to the driving assistance control device 6 according to the on / off operation of the brake pedal.

[0043] The stand switch 814 is a sensor that detects the state of a stand (side stand and / or main stand, not shown) that allows the motorcycle to stand on its own. The stand switch 814 sends a signal to the driving assistance control device 6 according to the state of the stand.

[0044] The main switch 815 is a sensor that can be operated by the rider to start / stop the driving assistance system 1. The main switch 815 transmits a signal to the driving assistance control device 6 in response to the start / stop operation by the rider.

[0045] The starter switch 816 is a sensor that can be operated by the rider to start / stop the engine of the driving force output device 82. The starter switch 816 transmits a signal to the driving assistance control device 6 in response to the start / stop operation by the rider.

[0046] The shift switch 817 is a switch that can be operated by the rider to switch the gear position of the driving force output device 82 between "N (Neutral)" and "D (Drive)." The shift switch 817 transmits a signal to the driving assistance control device 6 in response to the rider's shift position switching operation.

[0047] The parking brake switch 818 is a sensor that detects the state of a parking brake lever that can be operated by the rider to activate or release the parking brake applied by a parking brake device (not shown). The parking brake switch 818 transmits a signal according to the state of the parking brake to the driving assistance control device 6.

[0048] The driving force output device 82 includes an engine as a driving force generating source, a driving force transmission mechanism that changes the speed of the engine output and transmits it to the drive wheels, and an electronic control unit that controls the engine and the driving force transmission mechanism based on signals transmitted from the driving assistance control device 6. While the present embodiment describes a case in which a dual-clutch transmission is used as the driving force transmission mechanism, the present invention is not limited to this. The driving force transmission mechanism allows the gear position to be switched between at least three positions: neutral, drive, and reverse. When the gear position is neutral, the engine is disconnected from the drive wheels. When the gear position is drive, the driving force transmission mechanism transmits the engine output to the drive wheels as forward output for moving the vehicle forward, causing the drive wheels to rotate forward. When the gear position is reverse, the driving force transmission mechanism transmits the engine output to the drive wheels as reverse output for moving the vehicle backward, causing the drive wheels to rotate reverse.

[0049] The braking device 83 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper in accordance with the amount of operation of the brake lever or brake pedal, an electric motor that generates hydraulic pressure in the cylinder, and an electronic control unit that controls the electric motor based on a command signal sent from the driving assistance control device 6 and generates braking force in accordance with the command.

[0050] The driving assistance control device 6 is a computer that controls the driving assistance functions. The driving assistance control device 6 includes an automatic driving control unit 61, a vehicle distance setting unit 62, a vehicle speed setting unit 63, a reverse leaving assistance control unit 64, and a display control unit 65 as modules that realize the ACC function and the reverse leaving assistance function among the multiple driving assistance functions.

[0051] When the ACC function is on, the automatic driving control unit 61 executes an automobile speed control that controls the speed of the vehicle based on a set vehicle speed set by a vehicle speed setting unit 63 described below, or an automobile distance control that automatically controls the distance to a vehicle ahead based on the set vehicle speed. Note that, hereinafter, the automobile speed control and automobile distance control performed by the automatic driving control unit 61 are collectively referred to as automatic driving control.

[0052] More specifically, when the ACC function is on, the automatic driving control unit 61 recognizes, based on forward information acquired by the external recognition device 24, a vehicle traveling ahead of the vehicle that satisfies a condition for being followed that is determined based on a set vehicle speed, as a vehicle to be followed, and follows the vehicle to be followed by automatically controlling the inter-vehicle distance from the vehicle to be followed. More specifically, when the ACC function is on and the automatic driving control unit 61 can recognize a vehicle to be followed based on forward information, the automatic driving control unit 61 operates the driving force output device 82 and the brake device 83 so that the inter-vehicle distance from the vehicle to be followed becomes a target inter-vehicle distance that is sequentially set by the inter-vehicle distance setting unit 63 described below, and performs inter-vehicle distance control to follow the vehicle to be followed.

[0053] Furthermore, when the ACC function is on but the automatic driving control unit 61 cannot recognize the above-mentioned vehicle to be followed based on the forward information acquired by the external recognition device 24, the automatic driving control unit 61 automatically controls the vehicle speed identified by the vehicle sensor unit 3. More specifically, when the ACC function is on and the automatic driving control unit 61 cannot recognize the vehicle to be followed based on the forward information, the automatic driving control unit 61 executes automobile speed control that operates the driving force output device 82 and the brake device 83 so that the vehicle speed becomes the set vehicle speed.

[0054] Here, cases where the vehicle to be followed cannot be recognized based on the forward information include cases where there is no vehicle ahead of the host vehicle within a range recognizable by the external recognition device 24, as well as cases where a vehicle ahead is present within a range recognizable by the external recognition device 24 but does not satisfy the following target condition. In this embodiment, the following target condition is, for example, when the inter-vehicle distance to the vehicle ahead is less than a predetermined set distance and the vehicle speed of the vehicle ahead is less than a set vehicle speed. That is, even if a vehicle ahead is present within a range recognizable by the external recognition device 24, the automatic driving control unit 61 does not recognize the vehicle ahead as a vehicle to be followed if the vehicle ahead is more than a set distance from the host vehicle or if the vehicle ahead is traveling at a speed greater than or equal to the set vehicle speed. Therefore, while performing inter-vehicle distance control and following the vehicle to be followed, the vehicle speed does not steadily exceed the set vehicle speed.

[0055] As described above, while the automatic driving control unit 61 is executing the automatic driving speed control, it automatically controls the host vehicle speed with the set vehicle speed as the target. Therefore, even while the automatic driving speed control is being executed, the host vehicle speed will not steadily exceed the set vehicle speed. Therefore, while the automatic driving control unit 61 is executing the automatic driving control, the host vehicle speed will not steadily exceed the set vehicle speed, and the host vehicle speed will not automatically accelerate beyond the set vehicle speed.

[0056] When the ACC function is on, the inter-vehicle distance setting unit 62 sets a target inter-vehicle distance in inter-vehicle distance control by the automatic driving control unit 61. More specifically, the inter-vehicle distance setting unit 62 sets the target inter-vehicle distance based on forward information acquired by the external recognition device 24 and the detection results of the vehicle sensor unit 3. More specifically, the inter-vehicle distance setting unit 62 calculates the vehicle speed of the vehicle to be followed and the actual inter-vehicle distance between the vehicle and the vehicle to be followed based on the forward information, and further sets the target inter-vehicle distance so that it increases as the vehicle speed of the vehicle to be followed increases. The inter-vehicle distance setting unit 62 transmits information about the set target inter-vehicle distance to the automatic driving control unit 61.

[0057] When the ACC function is on, the vehicle speed setting unit 63 sets the set vehicle speed for automatic driving control by the automatic driving control unit 61, and transmits information regarding the set vehicle speed to the automatic driving control unit 61 and the display control unit 65.

[0058] The vehicle speed setting unit 63 sets or changes the set vehicle speed based on the rider's operation of the HMI 4 (particularly, the ACC lever 44). More specifically, when the vehicle speed setting unit 63 detects that the ACC lever 44 has been tilted to the "SET / -" side while the ACC function is in standby mode, it sets the current vehicle speed as the set vehicle speed. When the vehicle speed setting unit 63 detects that the ACC lever 44 has been tilted to the "RES / +" side while the ACC function is in standby mode, it sets the value stored in memory as the set vehicle speed. When the vehicle speed setting unit 63 detects that the ACC lever 44 has been tilted to the "RES / +" side while the ACC function is on and the vehicle speed is equal to or higher than a predetermined speed, it changes the set vehicle speed to an increasing side by a unit speed. Furthermore, when the vehicle speed setting unit 63 detects that the ACC lever 44 has been tilted to the "SET / -" side while the ACC function is on and the vehicle speed is equal to or higher than a predetermined speed, it changes the set vehicle speed to a decreasing side by a unit speed. Therefore, the rider can set or change a new set vehicle speed by operating the ACC lever 44.

[0059] The display control unit 65 notifies the rider of information regarding the TSR function and the ACC function by displaying on the display 41 information regarding the ACC function from the automatic driving control unit 61, the vehicle distance setting unit 62, and the vehicle speed setting unit 63, and information regarding the reverse exit support function from the reverse exit support control unit 64, etc.

[0060] The reverse exit assistance control unit 64 performs reverse exit assistance control that controls the driving force output device 83 based mainly on the rider's operation of the ACC main switch 43, the ACC lever 44, and the brake lever 810, thereby assisting the rider in reverse exiting the vehicle.

[0061] 2 to 8 are flowcharts showing specific steps of the reverse pulling out support control by the reverse pulling out support control unit 64. The flowchart shown in Fig. 2 is repeatedly executed by the reverse pulling out support control unit 64 at a predetermined control cycle after the rider turns on the main switch 815 and the driving support system 1 is started.

[0062] First, in step ST1, the reverse pulling out assistance control unit 64 determines whether or not predetermined assistance acceptance conditions are met. Here, the assistance acceptance conditions are conditions that must be met in order to start using the ACC main switch 43 or the ACC lever 44 as control switches for the reverse pulling out assistance function. More specifically, the reverse pulling out assistance control unit 64 determines that the assistance acceptance conditions are met when all four conditions are met: the engine is started, the stand is retracted, the parking brake is released, and the gear position is "N" or "R." If any one of these four conditions is not met, the reverse pulling out assistance control unit 64 determines that the assistance acceptance conditions are not met. If the determination result in step ST1 is NO, the reverse pulling out assistance control unit 64 returns to step ST1, and if the determination result is YES, the reverse pulling out assistance control unit 64 proceeds to step ST2.

[0063] In step ST2, the reverse pulling out support control unit 64 determines whether or not it has received the rider's operation of the ACC main switch 43. If the determination result in step ST2 is NO, the reverse pulling out support control unit 64 returns to step ST1, and if the determination result is YES, it proceeds to step ST3.

[0064] In step ST3, the reverse exit assistance control unit 64 sends a command to the display control unit 65 to display a function-on image, such as that shown in Figure 9, on the display 41 to let the rider know that the reverse exit assistance function is on, and then proceeds to step ST11.

[0065] In step ST11, the reverse pulling out support control unit 64 determines whether the support acceptance condition is met. If the determination result in step ST11 is NO, the reverse pulling out support control unit 64 proceeds to step ST13, and if the determination result is YES, the reverse pulling out support control unit 64 proceeds to step ST12.

[0066] In step ST12, the reverse pulling out support control unit 64 determines whether or not it has accepted the rider's operation of the ACC main switch 43. If the determination result in step ST12 is YES, the reverse pulling out support control unit 64 proceeds to step ST13, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST14.

[0067] In step ST13, the backward leaving-parking support control section 64 sends a command to the display control section 65 to erase the function-on image displayed in step ST3, and the process returns to step ST1.

[0068] In step ST14, the backward pulling out support control unit 64 determines whether the rider is gripping the brake lever. If the determination result in step ST14 is NO, the backward pulling out support control unit 64 proceeds to step ST15, and if the determination result is YES, the backward pulling out support control unit 64 proceeds to step ST16.

[0069] In step ST15, the backward leaving-parking assistance control unit 64 sends a command to the display control unit 65 to display a first message indicating the operation procedure on the display 41, and then returns to step ST11. Here, the first message is a message that prompts the rider to operate the brake lever. Specifically, for example, the message may be, "To start the leaving-parking assistance, please squeeze the brake lever."

[0070] In step ST16, the reverse pulling out support control unit 64 sends a command to the driving force output device 82 to switch the gear position from "N" to "R", and then proceeds to step ST17. In step ST17, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to display the current gear position "R" on the display 41, and then proceeds to step ST18.

[0071] In step ST18, the reverse leaving support control unit 64 sends a command to the display control unit 65 to display a second message indicating the operating procedure on the display 41, and then proceeds to step ST21. Here, the second message is a message that prompts the rider to operate the ACC lever 44. Specifically, for example, the second message may say, "Operate the ACC lever to the "SET / -" side to start reverse."

[0072] In step ST21, the reverse pulling out support control unit 64 determines whether the support acceptance condition is met. If the determination result in step ST21 is YES, the reverse pulling out support control unit 64 proceeds to step ST27, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST22.

[0073] In step ST22, the reverse leaving assistance control unit 64 sends a command to the display control unit 65 to display a third message on the display 41, and then proceeds to step ST23. Here, the third message indicates the reason for canceling the reverse leaving assistance function. Specifically, for example, it may say, "A cancellation operation has been detected, so leaving assistance will be terminated."

[0074] In step ST27, the reverse pulling out support control unit 64 determines whether or not it has accepted the rider's operation of the ACC main switch 43. If the determination result in step ST27 is YES, the reverse pulling out support control unit 64 proceeds to step ST26, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST28.

[0075] In step ST26, the reverse leaving assistance control unit 64 sends a command to the display control unit 65 to display a fourth message on the display 41, and then proceeds to step ST23. The fourth message here indicates the reason for canceling the reverse leaving assistance function. Specifically, for example, it may say, "An OFF operation has been detected, so leaving assistance will be terminated."

[0076] In step ST23, the reverse pulling out support control unit 64 sends a command to the driving force output device 82 to switch the gear position from "R" to "N", and then proceeds to step ST24. In step ST24, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to display the current gear position "N" on the display 41, and then proceeds to step ST25. In step ST25, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to erase the function-on image displayed in step ST13, and then returns to step ST1.

[0077] In step ST28, the reverse pulling out support control unit 64 determines whether or not it has received an ON operation of the control switch by the rider to start rearming the vehicle body, that is, whether or not it has received an operation by the rider to push the ACC lever 44 toward the "SET / -" side. If the determination result in step ST28 is NO, the reverse pulling out support control unit 64 returns to step ST21, and if the determination result is YES, it proceeds to step ST29.

[0078] In step ST29, the reverse pulling out support control unit 64, upon receiving the operation of pushing the ACC lever 44 to the "SET / -" side in step ST28, causes the driving force output device 82 to generate a predetermined amount of reverse output, and then proceeds to step ST31. After this, the reverse pulling out support control unit 64 continues to cause the driving force output device 82 to generate a reverse output until the conditions shown in ST41 to ST47 described below are satisfied.

[0079] In step ST31, the reverse leaving support control unit 64 sends a command to the display control unit 65 to display a fifth message on the display 41 to prompt the rider to release the brake lever, and then proceeds to step ST32. Specifically, the fifth message here is "Release the brake lever to move backward."

[0080] In step ST32, the reverse pulling out support control unit 64 determines whether the support acceptance condition is met. If the determination result in step ST32 is YES, the reverse pulling out support control unit 64 proceeds to step ST33, and if the determination result is NO, the reverse pulling out support control unit 64 returns to step ST22.

[0081] In step ST33, the reverse pulling out support control unit 64 determines whether or not it has accepted the rider's operation of the ACC main switch 43. If the determination result in step ST33 is YES, the reverse pulling out support control unit 64 returns to step ST26, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST34.

[0082] In step ST34, the backward pulling out support control unit 64 determines whether the rider is gripping the brake lever. If the determination result in step ST34 is YES, the backward pulling out support control unit 64 returns to step ST31, and if the determination result is NO, the backward pulling out support control unit 64 proceeds to step ST35.

[0083] In step ST35, the reverse leaving assistance control unit 64 sends a command to the display control unit 65 to display a sixth message on the display 41 to notify the rider that the vehicle is reversing, and then the process proceeds to step ST41. Specifically, the sixth message here is "Reversing. Please be careful of your surroundings." Therefore, from this point on, the rider can increase or decrease the reverse speed by adjusting the amount of operation of the brake lever to increase or decrease the magnitude of the braking force.

[0084] In step ST41, the reverse pulling out support control unit 64 determines whether the support acceptance condition is met. If the determination result in step ST41 is YES, the reverse pulling out support control unit 64 proceeds to step ST42, and if the determination result is NO, the reverse pulling out support control unit 64 returns to step ST22.

[0085] In step ST42, the reverse pulling out support control unit 64 determines whether or not it has accepted the rider's operation of the ACC main switch 43. If the determination result in step ST42 is YES, the reverse pulling out support control unit 64 returns to step ST26, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST43.

[0086] In step ST43, the reverse pulling out support control unit 64 determines whether or not an object approaching the vehicle body from either the left or right rear side of the vehicle body has been detected by the rear radar unit 23. If the determination result in step ST43 is YES, the reverse pulling out support control unit 64 proceeds to step ST51 to stop the reverse output to avoid contact, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST44.

[0087] In step ST44, the reverse pulling out support control unit 64 determines whether or not an operation to push the ACC lever 44 toward the "RES / +" side has been accepted. If the determination result in step ST44 is YES, the reverse pulling out support control unit 64 proceeds to step ST71 to stop the reverse output based on the rider's intention, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST45.

[0088] In step ST45, the reverse pulling out support control unit 64 determines whether the vehicle has been stopped for a predetermined period of time or longer due to continuous operation of the brake lever. If the determination result in step ST45 is YES, the reverse pulling out support control unit 64 proceeds to step ST81 to stop the reverse output based on the rider's intention, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST46.

[0089] In step ST46, the reverse pulling out support control unit 64 determines whether or not an obstacle has been detected within a predetermined distance to the rear of the vehicle body by the rear radar unit 23. If the determination result in step ST46 is YES, the reverse pulling out support control unit 64 proceeds to step ST91 to stop the reverse output to avoid contact, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST47.

[0090] In step ST47, the reverse pulling out support control unit 64 determines whether the accumulated reverse distance measured by the reverse distance sensor of the vehicle sensor unit 3 has reached a predetermined distance (for example, approximately one vehicle length of the vehicle). Here, the accumulated reverse distance is the accumulated value of the reverse distance measured by the reverse distance sensor from when the vehicle started to reverse by generating the reverse output for the first time in step ST29 to the present. If the determination result in step ST47 is YES, the reverse pulling out support control unit 64 determines that the vehicle has been reversed the distance necessary to pull out of the parking space, and proceeds to step ST101 to stop the reverse output, or if the determination result is NO, proceeds to step ST41.

[0091] As described above, the reverse exit assistance control unit 64 generates a reverse output (see step ST29) when it receives an on operation of the control switch by the rider to turn on the reverse exit assistance function (an operation of pushing the ACC lever 44 toward the "SET / -" side), and then continues to generate the reverse output until each of the conditions shown in steps ST41 to ST47 is met, even if the rider does not maintain the on operation of the control switch.

[0092] In step ST51, the reverse pulling out support control unit 64 issues an alarm to the rider, and then the process proceeds to step ST52. More specifically, the reverse pulling out support control unit 64 notifies the rider of the presence of an object approaching the vehicle by causing the alarm device 40 provided in the HMI 4 to emit an alarm sound.

[0093] In step ST52, the reverse pulling out support control unit 64 causes the driving force output device 82 to stop outputting reverse force, and then proceeds to step ST53. In step ST53, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to display a seventh message on the display 41 to prompt the rider to operate the brake lever, and then proceeds to step ST54. Specifically, the seventh message here is "An object approaching from the side has been detected. Please apply the brake lever."

[0094] In step ST54, the reverse leaving support control unit 64 starts automatic brake control to operate the brake device 83 to automatically generate braking force, and proceeds to step ST55. In step ST55, the reverse leaving support control unit 64 determines whether or not the vehicle body has stopped. If the determination result in step ST55 is NO, the reverse leaving support control unit 64 returns to step ST54, and if the determination result is YES, the reverse leaving support control unit 64 proceeds to step ST56. In step ST56, the reverse leaving support control unit 64 ends the automatic brake control started in step ST54, and proceeds to step ST57.

[0095] In step ST57, the reverse pulling out support control unit 64 determines whether the support acceptance condition is met. If the determination result in step ST57 is YES, the reverse pulling out support control unit 64 proceeds to step ST58, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST22.

[0096] In step ST58, the reverse pulling out support control unit 64 determines whether or not it has accepted the rider's operation of the ACC main switch 43. If the determination result in step ST58 is YES, the reverse pulling out support control unit 64 returns to step ST26, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST59.

[0097] In step ST59, the reverse pulling out support control unit 64 determines whether or not an object approaching the vehicle body from either the left or right side at the rear of the vehicle body has been detected by the rear radar unit 23. If the determination result in step ST59 is YES, the reverse pulling out support control unit 64 proceeds to step ST60, and if the determination result is NO, the reverse pulling out support control unit 64 proceeds to step ST61.

[0098] In step ST60, the backward leaving assistance control unit 64 sends a command to the display control unit 65 to display an eighth message on the display 41 to notify the rider that an approaching object has still been detected, and then returns to step ST57. A specific example of the eighth message here is "An object has been detected approaching your vehicle. Please check your surroundings. The system is on standby."

[0099] In step ST61, the reverse leaving support control unit 64 sends a command to the display control unit 65 to display on the display 41 a ninth message for informing the rider of the procedure for resuming reverse leaving, and then returns to step ST21. Specifically, the ninth message here is "Restarting reverse is possible. Please check your surroundings. Operate the ACC lever to the "SET / -" side to resume reverse leaving."

[0100] In step ST71, the reverse pulling out support control unit 64 stops the reverse output from the driving force output device 82, and then proceeds to step ST72. In step ST72, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to cause the display 41 to display a tenth message for informing the rider of the procedure for resuming reverse pulling out, and then returns to step ST21. Here, the tenth message specifically means "Operation of the ACC lever to the "RES / +" side has been detected. Reversing will resume when the ACC lever is operated to the "SET / -" side."

[0101] In step ST81, the reverse pulling out support control unit 64 causes the driving force output device 82 to stop outputting reverse force, and then proceeds to step ST82. In step ST82, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to cause the display 41 to display an eleventh message to notify the rider of the procedure for resuming reverse pulling out, and then returns to step ST21. Here, the eleventh message specifically means "Continued stop has been detected. Reversing will resume when the ACC lever is operated to the "SET / -" side."

[0102] In step ST91, the reverse pulling out support control unit 64 stops the reverse output from the driving force output device 82, and then proceeds to step ST92. In step ST92, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to cause the display 41 to display a 12th message to notify the rider of the reason for ending the reverse pulling out, and then proceeds to step ST93. Here, the 12th message specifically reads, "Approaching an obstacle behind. Please grip the brake lever. The pulling out support function will be terminated."

[0103] In step ST93, the reverse pulling out support control unit 64 starts automatic brake control and proceeds to step ST94. In step ST94, the reverse pulling out support control unit 64 determines whether or not the vehicle body has stopped. If the determination result in step ST94 is NO, the reverse pulling out support control unit 64 returns to step ST93, and if the determination result is YES, the reverse pulling out support control unit 64 proceeds to step ST95. In step ST95, the reverse pulling out support control unit 64 ends the automatic brake control started in step ST93 and proceeds to step ST96.

[0104] In step ST96, the reverse pulling out support control unit 64 sends a command to the driving force output device 82 to switch the gear position from "R" to "N", and then proceeds to step ST97. In step ST97, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to display the current gear position "N" on the display 41, and then proceeds to step ST98. In step ST98, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to erase the function-on image displayed in step ST13, and then ends the reverse pulling out support control.

[0105] In step ST101, the reverse pulling out support control unit 64 stops the reverse output from the driving force output device 82, and then proceeds to step ST102. In step ST102, the reverse pulling out support control unit 64 sends a command to the display control unit 65 to cause the display 41 to display a 13th message to notify the rider of the reason for ending the reverse pulling out, and then proceeds to step ST93. Here, the 13th message specifically means "You have backed out the maximum support distance. Please hold the brake lever. The pulling out support function will now end."

[0106] The driving assistance system 1 according to this embodiment has the following advantages.

[0107] (1) The motorcycle driving assistance system 1 includes a driving force output device 82 that generates a reverse output for reversing the drive wheels and moving the vehicle body backward, a brake lever 810 that can be gripped and operated by the rider, an ACC main switch 43 and an ACC lever 44 that can be operated by the rider, and a reverse pulling out assistance control unit 64 that controls the driving force output device 82 based on the operation of the brake lever 810, the ACC main switch 43, and the ACC lever 44. After the ACC main switch 43 is turned on, the reverse pulling out assistance control unit 64 generates a reverse output in the driving force output device 82 and starts moving the vehicle body backward when it receives an operation to push the ACC lever 44 toward the "SET / -" side. After generating the reverse output, the reverse pulling out assistance control unit 64 continues to generate the reverse output until the brake lever 810 is operated or the ACC main switch 43 or the ACC lever 44 is turned off. Therefore, when backing out of a parking space, the rider can continue to move the vehicle backward simply by first tilting the ACC lever 44 toward the "SET / -" side; there is no need to keep the ACC lever 44 toward the "SET / -" side. Therefore, with the driving assistance system 1, the rider can concentrate on maintaining balance so that the vehicle does not tip over while paying attention to the rear and sides of the vehicle, thereby reducing the burden on the rider when backing out. Furthermore, with the driving assistance system 1, by reducing the burden on the rider when backing out, it is possible to prevent contact with other vehicles and the vehicle from tipping over when backing out, thereby improving traffic safety.

[0108] (2) In the driving assistance system 1, the reverse leaving assistance control unit 64 stops the reverse output when the rear radar unit 23 detects an object approaching the vehicle body while the vehicle body is being reversed. Therefore, according to the driving assistance system 1, if another vehicle approaches the vehicle body while the vehicle body is being reversed, the vehicle automatically stops, thereby preventing contact with the other vehicle and ultimately improving traffic safety.

[0109] (3) In the driving assistance system 1, if the rear radar unit 23 detects an object approaching the vehicle body while the vehicle body is being reversed, the reverse exit assistance control unit 64 issues an alarm using the alarm device 40 and stops the reverse output. Therefore, according to the driving assistance system 1, the rider can quickly understand that the reason the reverse of the vehicle body has automatically stopped is because another vehicle is approaching, and can immediately resume reverse of the vehicle body after confirming that the other vehicle has passed.

[0110] (4) The reverse exit assistance control unit 64 stops the reverse output when the reverse distance reaches a predetermined distance after the vehicle starts to reverse. Therefore, according to the driving assistance system 1, after the rider starts to reverse the vehicle by pushing the ACC lever 44 toward the "SET / -" side, when the reverse distance reaches a predetermined distance, the vehicle automatically stops without operating the brake lever 810, the ACC main switch 43, the ACC lever 44, etc., which further reduces the burden on the rider when backing out of a parking lot and ultimately further improves traffic safety.

[0111] (5) After generating the reverse output, if the vehicle body remains stopped for a predetermined time or longer due to the brake lever 810 being operated, the reverse exit support control unit 64 stops the reverse output. Therefore, according to the driving support system 1, even if the reverse speed temporarily becomes 0 while the rider is reversing the vehicle body while adjusting the reverse speed by operating the brake lever 810, the reverse output will not immediately stop, thereby improving convenience.

[0112] Although one embodiment of the present invention has been described above, the present invention is not limited to this, and the detailed configuration may be modified as appropriate within the scope of the spirit of the present invention. [Explanation of symbols]

[0113] 1. Driving assistance system 2...External sensor unit 23...Rear radar unit 23 (rear sensor) 3...Vehicle sensor unit (reverse distance measurement unit) 4. HMI 40…Alarm device 41...Display 43...ACC main switch (control switch) 44...ACC lever (control switch) 6...Driver assistance control device 61...Automatic driving control unit 64...Back-out exit support control unit (back-out support control unit) 65...Display control unit 81...Driving controls 810...Brake lever 811...Brake lever switch 82... Driving force output device (wheel drive device) 83...Brake device

Claims

1. a wheel drive device that rotates the wheels in a forward direction to generate a forward output for moving the vehicle body forward, or rotates the wheels in a reverse direction to generate a backward output for moving the vehicle body backward; a brake lever that can be gripped and operated by a rider; a control switch operable by the rider; a rear sensor that detects an object behind the vehicle body; a reverse assist control unit that controls the wheel drive device based on operations of the brake lever and the control switch, a reverse assist control unit that generates the reverse output in the wheel drive unit when the control switch is turned on, and then continues to generate the reverse output until the brake lever is operated or the control switch is turned off, and that stops the reverse output if the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed.

2. further comprising a warning device that issues a warning to the rider; 2. The motorcycle driving assistance system according to claim 1, wherein the reverse assistance control unit issues an alarm using the alarm device and stops the reverse output when the rear sensor detects an object approaching the vehicle body while the vehicle body is being reversed.

3. A wheel drive device that rotates the wheels in the forward direction to generate a forward output for moving the vehicle forward, or rotates the wheels in the reverse direction to generate a backward output for moving the vehicle backward; a brake lever that can be gripped and operated by a rider; a control switch operable by the rider; a reversing distance measuring unit for measuring a reversing distance of the vehicle body; a reverse assist control unit that controls the wheel drive device based on operations of the brake lever and the control switch, a reverse assist control unit that generates the reverse output in the wheel drive unit when the control switch is turned on, and then continues to generate the reverse output until the brake lever is operated or the control switch is turned off, and that stops the reverse output when the reverse distance reaches a predetermined distance after the vehicle body starts to reverse.

4. A wheel drive device that rotates the wheels in the forward direction to generate a forward output for moving the vehicle forward, or rotates the wheels in the reverse direction to generate a backward output for moving the vehicle backward; a brake lever that can be gripped and operated by a rider; a control switch operable by the rider; a reverse assist control unit that controls the wheel drive device based on operations of the brake lever and the control switch, a reverse assist control unit that generates the reverse output in the wheel drive device when the control switch is turned on, and then continues to generate the reverse output until the brake lever is operated or the control switch is turned off, and that stops the reverse output if the vehicle body remains stopped for a predetermined period of time or more due to operation of the brake lever after generating the reverse output.

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