Device and method for controlling the behavior of a saddle-ride type vehicle

Abstract

The present invention provides a control device and a control method with which it is possible to improve rider assistance performance. This saddled vehicle (100) behavior control device comprises: an acquisition unit that acquires positional relation information between a traveling saddled vehicle (100) and a target (200); and an execution unit that executes a positional relation adjustment operation that, on the basis of the positional relation information acquired by the acquisition unit, automatically changes the traveling speed of the saddled vehicle (100) to adjust the positional relation between the saddled vehicle (100) and the target (200). In the positional relation adjustment operation, the execution unit switches between a first operation mode in which the positional relation between the saddled vehicle (100) and the target (200) is in a first state and a second operation mode in which the positional relation between the saddled vehicle (100) and the target (200) is in a second state, according to whether a group traveling mode is enabled.

Description

[Technical Field]

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

[0002] A conventional control device for the behavior of a saddle-ride type vehicle acquires positional relationship information between the saddle-ride type vehicle and a target while it is moving, and automatically changes the traveling speed of the saddle-ride type vehicle based on the positional relationship information, thereby performing a positional relationship adjustment operation to adjust the positional relationship between the saddle-ride type vehicle and the target (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 172870 Summary of the Invention [Problem to be solved by the invention]

[0004] Saddle-ride type vehicles have extremely small bodies compared to other vehicles (e.g., passenger cars, trucks, etc.). Therefore, situations may arise in which multiple saddle-ride type vehicles travel side by side in unusual positional relationships (e.g., a situation in which multiple saddle-ride type vehicles travel side by side in one travel lane, a situation in which multiple saddle-ride type vehicles travel in one travel lane with multiple vehicles forming a convoy, etc.). Conventional control devices for the behavior of saddle-ride type vehicles may have difficulty performing appropriate positional relationship adjustment operations in such situations.

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

[0006] The control device according to the present invention is a control device for the behavior of a saddle-ride type vehicle, and includes an acquisition unit that acquires positional relationship information between the saddle-ride type vehicle and a target while the vehicle is traveling, and an execution unit that executes a positional relationship adjustment operation that automatically changes the traveling speed of the saddle-ride type vehicle based on the positional relationship information acquired by the acquisition unit to adjust the positional relationship between the saddle-ride type vehicle and the target. In the positional relationship adjustment operation, the execution unit switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a first state, and a second operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a second state different from the first state, depending on whether a group traveling mode in which the saddle-ride type vehicle travels in a group together with at least one other saddle-ride type vehicle is enabled.

[0007] A control method according to the present invention is a method for controlling the behavior of a saddle-ride type vehicle, and includes: an acquisition step in which an acquisition unit of a control device acquires positional relationship information between the saddle-ride type vehicle and a target while it is traveling; and an execution step in which an execution unit of the control device executes a positional relationship adjustment operation to adjust the positional relationship between the saddle-ride type vehicle and the target by automatically changing the traveling speed of the saddle-ride type vehicle based on the positional relationship information acquired in the acquisition step. In the execution step, the execution unit switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a first state, and a second operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a second state different from the first state, depending on whether a group traveling mode in which the saddle-ride type vehicle travels in a group together with at least one other saddle-ride type vehicle is enabled. [Effects of the Invention]

[0008] In the control device and control method according to the present invention, the positional relationship adjustment operation switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a first state, and a second operation mode in which the positional relationship between the saddle-ride type vehicle and the target is in a second state different from the first state, depending on whether a group riding mode in which the saddle-ride type vehicle rides in a group together with at least one other saddle-ride type vehicle is active. This makes it possible to perform an appropriate positional relationship adjustment operation in situations in which multiple saddle-ride type vehicles are riding side by side in a special positional relationship, thereby improving rider support. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a state in which a rider assistance system according to an embodiment of the present invention is mounted on a saddle-ride type vehicle. [Figure 2] 1 is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention. [Figure 3] 1 is a diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention; [Figure 4] 1 is a diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention; [Figure 5] 1 is a diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention; [Figure 6] 1 is a diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention; [Figure 7] 1 is a diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention; [Figure 8] FIG. 3 is a diagram for explaining an operation flow of a control device of the rider assistance system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

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

[0012] For example, although the following describes a case where the control device and control method according to the present invention are used in a rider assistance system for a motorcycle, the control device and control method according to the present invention may also be used in a rider assistance system for a saddle-ride type vehicle other than a motorcycle. A saddle-ride type vehicle is a vehicle that is driven by a rider straddling the body. Examples of saddle-ride type vehicles include motorcycles (motorcycles and motor tricycles) and bicycles. Motorcycles include vehicles powered by engines and vehicles powered by electric motors. Examples of motorcycles include motorcycles, scooters, and electric scooters. A bicycle is a vehicle that can be propelled down a road by the rider's pedaling force applied to the pedals. Examples of bicycles include standard bicycles, electrically assisted bicycles, and electric bicycles.

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

[0014] Embodiment A rider assistance system according to an embodiment will be described below.

[0015] <Rider assistance system configuration> The configuration of the rider assistance system according to the embodiment will be described. Fig. 1 is a diagram showing a state in which a rider assistance system according to an embodiment of the present invention is mounted on a saddle-ride type vehicle. Fig. 2 is a diagram showing the system configuration of the rider assistance system according to an embodiment of the present invention. Figs. 3 to 7 are diagrams for explaining the configuration of the rider assistance system according to an embodiment of the present invention.

[0016] 1 and 2, the rider assistance system 1 is mounted on a saddle-ride type vehicle 100. The rider assistance system 1 includes, for example, an ambient environment sensor 11, a vehicle behavior sensor 12, a setting input device 13, a control device (ECU) 20, a braking device 30, a drive device 40, and an alarm device 50.

[0017] In the rider assistance system 1, the control device 20 executes rider assistance operations that assist the rider in driving the saddle-ride type vehicle 100, using outputs from the ambient environment sensor 11 and the vehicle behavior sensor 12, and outputs from the setting input device 13. The control device 20 executes the rider assistance operations by outputting commands to various devices (e.g., the braking device 30, the drive device 40, the notification device 50, etc.). The control device 20 receives outputs from various sensors (not shown) for detecting other information as needed (e.g., information on the operation state of the braking device 30 by the rider, information on the operation state of the drive device 40 by the rider, etc.). Each component of the rider assistance system 1 may be used exclusively for the rider assistance system 1, or may be shared with other systems.

[0018] The ambient environment sensor 11 may be, for example, ambient environment sensor 11a facing forward of the saddle-ride type vehicle 100, ambient environment sensor 11b facing rearward of the saddle-ride type vehicle 100, ambient environment sensor 11c facing leftward of the saddle-ride type vehicle 100, ambient environment sensor 11d facing rightward of the saddle-ride type vehicle 100, or a combination thereof. The ambient environment sensors 11a, 11b, 11c, and 11d are, for example, radar, lidar sensors, ultrasonic sensors, cameras, etc. At least a portion of the ambient environment sensor 11c and the ambient environment sensor 11d may be substituted with the ambient environment sensor 11a or the ambient environment sensor 11b.

[0019] The vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor (IMU), etc. The vehicle speed sensor detects the speed occurring in the saddle-ride type vehicle 100. The vehicle speed sensor may detect other physical quantities that can be substantially converted into the traveling speed of the saddle-ride type vehicle 100. The inertial sensor detects three-axial (front-rear, widthwise, and heightwise) accelerations occurring in the saddle-ride type vehicle 100 and three-axial (roll, pitch, and yaw) angular velocities. The inertial sensor may detect other physical quantities that can be substantially converted into three-axial accelerations and three-axial angular velocities occurring in the saddle-ride type vehicle 100. Alternatively, the inertial sensor may detect only some of the three-axial accelerations and three-axial angular velocities.

[0020] The setting input device 13 accepts input of various settings by the rider. For example, the rider can use the setting input device 13 to switch between enabling and disabling various rider assistance operations. Also, for example, the rider can use the setting input device 13 to set various modes or various thresholds used in various rider assistance operations. The setting input device 13 may accept operations by the rider's body (for example, hands, feet, etc.), or may accept voice utterances by the rider. Also, the setting input device 13 may be provided in the saddle-ride type vehicle 100, or may be provided in accessories accompanying the saddle-ride type vehicle 100 (for example, a helmet, gloves, etc.).

[0021] The control device 20 includes at least an acquisition unit 21 and an execution unit 22. All or each unit of the control device 20 may be provided together in one housing, or may be provided separately in multiple housings. All or each unit 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 executed by instructions from a CPU, or the like.

[0022] The acquisition unit 21 acquires ambient environment information about the saddle-ride type vehicle 100 based on the output of the ambient environment sensor 11 while the saddle-ride type vehicle 100 is traveling. The ambient environment information includes positional relationship information between the saddle-ride type vehicle 100 and vehicles traveling around the saddle-ride type vehicle 100. The positional relationship information is, for example, information such as relative position, relative distance, relative speed, relative acceleration, relative jerk, passing time difference, and predicted time until a collision. The positional relationship information may also be information of other physical quantities that can be substantially converted into these information.

[0023] When the positional relationship adjustment operation as a rider assistance operation is enabled, the execution unit 22 determines a target from among the vehicles traveling around the saddle-ride type vehicle 100 based on the positional relationship information acquired by the acquisition unit 21. If the enabled positional relationship adjustment operation is intended to assist the rider in driving in response to an event that occurs in front of the saddle-ride type vehicle 100, the execution unit 22 determines a vehicle traveling ahead of the saddle-ride type vehicle 100 as the target. If the enabled positional relationship adjustment operation is intended to assist the rider in driving in response to an event that occurs behind the saddle-ride type vehicle 100, the execution unit 22 determines a vehicle traveling behind the saddle-ride type vehicle 100 as the target.

[0024] The execution unit 22 executes a positional relationship adjustment operation that automatically changes the traveling speed of the saddle-ride type vehicle 100 to adjust the positional relationship between the saddle-ride type vehicle 100 and the target, based on the positional relationship information between the saddle-ride type vehicle 100 and the target acquired by the acquisition unit 21. The positional relationship adjustment operation is an operation that adjusts the positional relationship in the longitudinal direction of the traveling lane. When executing the positional relationship adjustment operation, the execution unit 22 outputs a command to the braking device 30 or the drive device 40, thereby automatically changing the traveling speed of the saddle-ride type vehicle 100. 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 of the saddle-ride type vehicle 100, or may be controlled to cause or increase acceleration of the saddle-ride type vehicle 100. The drive device 40 may be controlled to generate or increase the acceleration of the saddle-ride type vehicle 100, and may also be controlled to generate or increase the deceleration of the saddle-ride type vehicle 100.

[0025] The positional relationship adjustment operation is an operation of automatically causing deceleration or acceleration in the saddle-ride type vehicle 100 to adjust the positional relationship between the saddle-ride type vehicle 100 and a target without the rider operating the brake device 30 and the drive device 40 (for example, an adaptive cruise control operation in which the target is a speed tracking target, an operation of decelerating or accelerating the saddle-ride type vehicle 100 to avoid or mitigate a collision with the target, an operation of operating the brake device 30 to control the positional relationship with the target to a positional relationship according to the amount of operation while the rider is operating the drive device 40, an operation in which the rider operates the brake device 30 to adjust the positional relationship with the target to a positional relationship according to the amount of operation ... The operation may be an operation of automatically increasing or decreasing the braking force acting on the saddle-ride type vehicle 100 to adjust the positional relationship between the saddle-ride type vehicle 100 and the target in order to correct for excessive or insufficient operation of the brake device 30 by the rider, or an operation of automatically increasing or decreasing the driving force acting on the saddle-ride type vehicle 100 to adjust the positional relationship between the saddle-ride type vehicle 100 and the target in order to correct for excessive or insufficient operation of the drive device 40 by the rider.

[0026] When the execution unit 22 executes the positional relationship adjustment operation, it causes the notification device 50 to execute a notification operation for the rider as necessary. The notification device 50 may notify the rider by display (i.e., perception using the visual organs as sensory organs), by sound (i.e., perception using the auditory organs as sensory organs), or by vibration (i.e., perception using the tactile organs as sensory organs). 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 accessories accompanying the saddle-ride type vehicle 100 (e.g., a helmet, gloves, etc.).

[0027] In the positional relationship adjustment operation in a normal state, that is, in a state in which it is determined that the group riding mode described below is not enabled, the execution unit 22 determines, as the target 200, a vehicle traveling ahead of the saddle-ride type vehicle 100 or a vehicle traveling behind the saddle-ride type vehicle 100, as shown in FIG. 3. The execution unit 22 stores a state quantity set S1 that combines a plurality of state quantities P that define the positional relationship between the saddle-ride type vehicle 100 and the target 200, as shown in FIG. 4. While FIG. 4 illustrates a case in which the state quantity P is a passing time difference, the state quantity P may be another state quantity, such as a relative distance or a predicted time until a collision. The rider of the saddle-ride type vehicle 100 can use the setting input device 13 to set whether the positional relationship between the saddle-ride type vehicle 100 and the target 200 should be adjusted to tend toward or away from each other. In other words, the rider of the saddle-ride type vehicle 100 can select from a plurality of levels to which the positional relationship between the saddle-ride type vehicle 100 and the target 200 is to be adjusted. Note that while FIG. 4 shows a case in which the rider of the saddle-ride type vehicle 100 selects from five levels, Lv1 to Lv5, the number of levels may be different. In FIG. 4, the case in which the positional relationship between the saddle-ride type vehicle 100 and the target 200 is adjusted to be closest to each other is designated as Lv1, and the case in which the positional relationship is adjusted to be most distant from each other is designated as Lv5. The acquisition unit 21 acquires the setting information as setting input information based on the output of the setting input device 13. In the positional relationship adjustment operation, the execution unit 22 selects a state quantity P corresponding to the setting input information (i.e., Lv information) from the state quantity set S1, and adjusts the positional relationship between the saddle-ride type vehicle 100 and the target 200 by controlling the traveling speed of the saddle-ride type vehicle 100 so that the state quantity P is achieved. When performing the positional relationship adjustment operation, the execution unit 22 performs control so that the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated in the saddle-ride type vehicle 100 does not exceed the limit value. The limit value may be the same or different when the first-order derivative and / or the second-order derivative of the traveling speed generated in the saddle-ride type vehicle 100 is a positive value and when the first-order derivative and / or the second-order derivative of the traveling speed generated in the saddle-ride type vehicle 100 is a negative value.The execution unit 22 may control the traveling speed of the saddle-ride type vehicle 100 so that it does not exceed the limit value only when the first-order and / or second-order derivative of the traveling speed is a positive value, or may control the traveling speed of the saddle-ride type vehicle 100 so that it does not exceed the limit value only when the first-order and / or second-order derivative of the traveling speed of the saddle-ride type vehicle 100 is a negative value, or may control both. Furthermore, when outputting a command to the braking device 30 to execute the positional relationship adjustment operation, the execution unit 22 controls the braking force distribution to the front and rear wheels of the saddle-ride type vehicle 100 to a predetermined ratio.

[0028] Here, the execution unit 22 determines whether or not the group riding mode is enabled when starting the positional relationship adjustment operation and / or while the positional relationship adjustment operation is being performed. As shown in Figures 5 and 6, the group riding mode is a mode in which the saddle type vehicle 100 travels in a group, i.e., as a group, together with at least one other saddle type vehicle 300.

[0029] As a first example, the group driving mode is automatically switched between enabled and disabled by the execution unit 22 based on the surrounding environment information acquired by the acquisition unit 21. The execution unit 22 determines whether the group driving mode is enabled or disabled based on the switching information. Based on the surrounding environment information acquired by the acquisition unit 21, the execution unit 22 determines whether the saddle-ride vehicle 100 and other saddle-ride vehicles 300 located around the saddle-ride vehicle 100 have been traveling in a specific manner (for example, as shown in FIG. 5, two vehicle convoys are formed in which the saddle-ride vehicle 100 and multiple other saddle-ride vehicles 300 are lined up in a zigzag pattern; as shown in FIG. 6, two vehicle convoys are formed in which the saddle-ride vehicle 100 and multiple other saddle-ride vehicles 300 are lined up side by side; a manner in which the saddle-ride vehicle 100 and one other saddle-ride vehicle 300 are lined up front and back, left and right, or diagonally, etc.) for a period exceeding a reference time or a reference traveling distance, and if the determination is affirmative, the execution unit 22 automatically activates the group traveling mode. The execution unit 22 may identify other saddle-ride type vehicles 300 located within the driving lane DL in which the saddle-ride type vehicle 100 is traveling, and may make only the identified other saddle-ride type vehicles 300 the subject of its judgment, or may identify other saddle-ride type vehicles 300 that continue to be located around the saddle-ride type vehicle 100 for a reference time or a reference driving distance without using information about the boundaries of the driving lane DL, and may make the identified other saddle-ride type vehicles 300 the subject of its judgment.

[0030] As a second example, the group riding mode can be switched between enabled and disabled by a setting input by the rider. The acquisition unit 21 acquires setting information as setting input information based on the output of the setting input device 13. The execution unit 22 determines whether the group riding mode is enabled or disabled based on the setting input information. Note that the execution unit 22 automatically suggests enabling and / or disabling the group riding mode based on the surrounding environment information acquired by the acquisition unit 21, and the suggestion may be confirmed by a setting input of approval by the rider.

[0031] When it is determined that the group riding mode is enabled, the execution unit 22 executes a positional relationship adjustment operation that differs from the normal state, i.e., when it is determined that the group riding mode is not enabled. The positional relationship adjustment operation is an operation that adjusts the positional relationship in the longitudinal direction of the traveling lane DL. The following describes a case in which the enabled positional relationship adjustment operation is intended to assist the rider in driving in response to an event that occurs in front of or to the side of the saddle riding vehicle 100, and the execution unit 22 adjusts the positional relationship with respect to another saddle riding vehicle 300 traveling ahead of the saddle riding vehicle 100 or another saddle riding vehicle 300 traveling parallel to the saddle riding vehicle 100. When the enabled positional relationship adjustment operation is intended to assist the rider in driving in response to an event that occurs behind the saddle riding vehicle 100, the execution unit 22 adjusts the positional relationship with respect to another saddle riding vehicle 300 traveling behind the saddle riding vehicle 100 using a similar method.

[0032] As a first example, the determination of the target 200 will be explained when the enabled positional relationship adjustment operation is to adjust the positional relationship in the fore-and-aft direction of the driving lane DL between the saddle-ride vehicle 100 and one other saddle-ride vehicle 300 traveling in a group with the saddle-ride vehicle 100.

[0033] The execution unit 22 identifies other saddle-ride type vehicles 300 traveling in a group with the saddle-ride type vehicle 100 from among the vehicles located in the vicinity of the saddle-ride type vehicle 100, based on the surrounding environment information acquired by the acquisition unit 21. Whether or not another saddle-ride type vehicle 300 is a vehicle traveling in a group with the saddle-ride type vehicle 100 may be determined based on information registered in advance by the rider (for example, position information of the saddle-ride type vehicle 100 within the group, identification information of other saddle-ride type vehicles 300 belonging to the group, etc.), or may be determined based on information on the positional relationship with respect to the saddle-ride type vehicle 100 over time.

[0034] 5 and 6, for example, the execution unit 22 determines, as the target 200 (denoted as 200A in the figures), another saddle-ride type vehicle 300 that belongs to the first vehicle train L1 to which the saddle-ride type vehicle 100 in the group belongs and that is traveling in front of and closest to the saddle-ride type vehicle 100. Also, for example, the execution unit 22 determines, as the target 200 (denoted as 200B in the figures), another saddle-ride type vehicle 300 that belongs to the second vehicle train L2 to which the saddle-ride type vehicle 100 in the group does not belong and that is traveling in front of or alongside the saddle-ride type vehicle 100 in the closest position. The execution unit 22 can determine whether the saddle-ride vehicle 100 belongs to the left or right convoy within the driving lane DL based on information registered in advance by the rider (for example, position information of the saddle-ride vehicle 100 within the group) or information on the positional relationship with respect to multiple other saddle-ride vehicles 300 over time, that is, by using the group convoy information, it can identify other saddle-ride vehicles 300 belonging to the first convoy L1 and other saddle-ride vehicles 300 belonging to the second convoy L2.

[0035] As a second example, we will explain the determination of the target 200 when the enabled positional relationship adjustment operation is to adjust the positional relationship in the fore-and-aft direction of the driving lane DL between the saddle-ride vehicle 100 and multiple other saddle-ride vehicles 300 traveling in a group with the saddle-ride vehicle 100.

[0036] The execution unit 22 identifies other saddle-ride type vehicles 300 traveling in a group with the saddle-ride type vehicle 100 from among the vehicles located in the vicinity of the saddle-ride type vehicle 100, based on the surrounding environment information acquired by the acquisition unit 21. Whether or not another saddle-ride type vehicle 300 is a vehicle traveling in a group with the saddle-ride type vehicle 100 may be determined based on information registered in advance by the rider (for example, position information of the saddle-ride type vehicle 100 within the group, identification information of other saddle-ride type vehicles 300 belonging to the group, etc.), or may be determined based on information on the positional relationship with respect to the saddle-ride type vehicle 100 over time.

[0037] As shown in Figures 5 and 6, for example, the execution unit 22 determines one virtual vehicle 300I as the target 200 (denoted as 200C in the figures) that symbolizes another saddle-type vehicle 300 that belongs to the first vehicle train L1 to which the saddle-type vehicle 100 in the group belongs and is traveling ahead of the saddle-type vehicle 100 and closest to the saddle-type vehicle 100, and another saddle-type vehicle 300 that belongs to the second vehicle train L2 to which the saddle-type vehicle 100 in the group does not belong and is traveling ahead of or alongside the saddle-type vehicle 100 and closest to the saddle-type vehicle 100. The execution unit 22 can identify whether the saddle-ride vehicle 100 belongs to the left or right convoy in the travel lane DL based on information registered in advance by the rider (for example, information about the traveling position of the saddle-ride vehicle 100 within the group) or information about the positional relationship with respect to multiple other saddle-ride vehicles 300 over time, that is, by using the group convoy information, it can identify the other saddle-ride vehicle 300 belonging to the first convoy L1 and the other saddle-ride vehicle 300 belonging to the second convoy L2. The virtual vehicle 300I is a vehicle that belongs to the first convoy L1 to which the saddle-ride vehicle 100 in the group belongs, and is hypothesized to be traveling at a distance d1 in the longitudinal direction of the travel lane DL from the other saddle-ride vehicle 300 (denoted as 200A in the figure) traveling in advance and closest to the saddle-ride vehicle 100. The virtual vehicle 300I may be shifted so as to approach the saddle-ride type vehicle 100 (i.e., so that the distance d1 becomes a positive value), or may be shifted so as to move away from the saddle-ride type vehicle 100 (i.e., so that the distance d1 becomes a negative value). The distance d1 is a value that varies depending on the distance d2 in the width direction of the travel lane DL between the saddle-ride type vehicle 100 and another saddle-ride type vehicle 300 (denoted as 200B in the figure) that belongs to a second vehicle convoy L2 to which the saddle-ride type vehicle 100 in the group does not belong and is traveling closest to the saddle-ride type vehicle 100 in advance or alongside it. For example, the smaller the distance d2, the greater the distance d1. The relationship between the distance d1 and the distance d2 may be constant, or may vary depending on the traveling state of the saddle-ride type vehicle 100, or may vary depending on a setting input by the rider of the saddle-ride type vehicle 100. Furthermore, the virtual vehicle 300I may represent three or more other saddle-ride type vehicles 300.

[0038] When the target 200 is determined, the execution unit 22 automatically changes the traveling speed of the saddle-ride vehicle 100 based on the positional relationship information between the saddle-ride vehicle 100 and the target 200 acquired by the acquisition unit 21, and executes a positional relationship adjustment operation to adjust the positional relationship between the saddle-ride vehicle 100 and the target 200.

[0039] As a first example, the execution unit 22 stores a state quantity set S2 that combines a plurality of state quantities P that define the positional relationship between the saddle riding type vehicle 100 and the target 200, as shown in Fig. 7, which is similar to the state quantity set S1 shown in Fig. 4. In the positional relationship adjustment operation, the execution unit 22 selects a state quantity P that corresponds to the setting input information (i.e., Lv information) by the rider from the state quantity set S2, and controls the traveling speed of the saddle riding type vehicle 100 so that the state quantity P is achieved, thereby adjusting the positional relationship between the saddle riding type vehicle 100 and the target 200.

[0040] Here, compared to the state quantity set S1, the state quantity set S2 is a combination of state quantities P that adjust the positional relationship between the saddle riding type vehicle 100 and the target 200 so that they tend to get closer to each other. In the positional relationship adjustment operation when the group traveling mode is not enabled (corresponding to the "first operation mode" of the present invention), the state quantity set S1 is used, and the positional relationship between the saddle riding type vehicle 100 and the target 200 is controlled to a state where the passing time difference becomes large, that is, a state where they tend to get farther apart (corresponding to the "first state" of the present invention), and in the positional relationship adjustment operation when the group traveling mode is enabled (corresponding to the "second operation mode" of the present invention), the state quantity set S2 is used, and the positional relationship between the saddle riding type vehicle 100 and the target 200 is controlled to a state where the passing time difference becomes small, that is, a state where they tend to get closer to each other (corresponding to the "second state" of the present invention).

[0041] For example, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S2 a state quantity P corresponding to the same Level as the state quantity P corresponding to the state quantity P selected in the state quantity set S1. Also, for example, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S2 a state quantity P closest to the state quantity P selected in the state quantity set S1. Also, for example, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S2 a state quantity P corresponding to a specific Level (for example, the smallest Level, the largest Level, an intermediate Level, etc.) regardless of the state quantity P selected in the state quantity set S1. Furthermore, for example, when the group riding mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S2 the state quantity P that was selected in the previous positional relationship adjustment operation that was executed while the group riding mode was enabled, regardless of the state quantity P that was selected in the state quantity set S1. Furthermore, for example, when the group riding mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S2 the state quantity P that corresponds to the Lv that was set in advance as an initial value by the rider, regardless of the state quantity P that was selected in the state quantity set S1.

[0042] For example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to the same Level as the state quantity P selected in the state quantity set S2. Also, for example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P closest to the state quantity P selected in the state quantity set S2. Also, for example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to a specific Level (for example, the smallest Level, the largest Level, an intermediate Level, etc.) regardless of the state quantity P selected in the state quantity set S2. Furthermore, for example, when the group riding mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 the state quantity P that was selected in the previous positional relationship adjustment operation that was executed while the group riding mode was disabled, regardless of the state quantity P that was selected in the state quantity set S2. Furthermore, for example, when the group riding mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 the state quantity P that corresponds to the Lv that was set in advance as an initial value by the rider, regardless of the state quantity P that was selected in the state quantity set S2.

[0043] In the state quantity set S2 shown in Fig. 7, the state quantity P is small at all levels, but the state quantity P may be the same at some levels and small only at the other levels. Also, the state quantity P may be other state quantities such as relative distance, predicted time until collision, etc. Also, the magnitude relationship between the state quantity set S1 and the state quantity set S2 may be reversed. In other words, in the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "second operating mode" of the present invention), the state quantity set S1 is used to control the positional relationship between the saddle-ride type vehicle 100 and the target 200 to a state in which the passing time difference is small, i.e., a state in which they tend to get closer (corresponding to the "second state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "first operating mode" of the present invention), the state quantity set S2 may be used to control the positional relationship between the saddle-ride type vehicle 100 and the target 200 to a state in which the passing time difference is large, i.e., a state in which they tend to get farther apart (corresponding to the "first state" of the present invention).

[0044] As a second example, the execution unit 22 uses the state quantity set S1 shown in Fig. 4 regardless of whether the group riding mode is enabled. In the positional relationship adjustment operation when the group riding mode is enabled, the execution unit 22 selects, from the state quantity set S1, a state quantity P that is different from the state quantity P that corresponds to the setting input information by the rider (i.e., the Lv information), and adjusts the positional relationship between the saddle riding vehicle 100 and the target 200 by controlling the traveling speed of the saddle riding vehicle 100 so that the state quantity P is achieved.

[0045] Here, in the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "first operation mode" of the present invention), a state quantity P corresponding to the setting input information by the rider (i.e., Lv information) is selected from the state quantity set S1, and the positional relationship between the saddle riding type vehicle 100 and the target 200 is controlled to a state in which the passing time difference becomes large, that is, a state in which they tend to separate (corresponding to the "first state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "second operation mode" of the present invention), a state quantity P different from the state quantity P corresponding to the setting input information by the rider (i.e., Lv information) is selected from the state quantity set S1, and the positional relationship between the saddle riding type vehicle 100 and the target 200 is controlled to a state in which the passing time difference becomes small, that is, a state in which they tend to get closer (corresponding to the "second state" of the present invention). In the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "second operation mode" of the present invention), a state quantity P corresponding to the setting input information by the rider (i.e., Lv information) is selected from the state quantity set S1, and the positional relationship between the saddle-ride type vehicle 100 and the target 200 is controlled to a state in which the passing time difference is small, that is, a state in which they tend to get closer (corresponding to the "second state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "first operation mode" of the present invention), a state quantity P different from the state quantity P corresponding to the setting input information by the rider (i.e., Lv information) may be selected from the state quantity set S1, and the positional relationship between the saddle-ride type vehicle 100 and the target 200 is controlled to a state in which the passing time difference is large, that is, a state in which they tend to get farther apart (corresponding to the "first state" of the present invention).

[0046] For example, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to a level that is a predetermined level different from the level corresponding to the state quantity P selected when the group driving mode was disabled. Furthermore, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to a specific level (e.g., the lowest level, the highest level, an intermediate level, etc.), regardless of the state quantity P selected when the group driving mode was disabled. Furthermore, when the group driving mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P that was selected in the previous positional relationship adjustment operation performed when the group driving mode was enabled, regardless of the state quantity P selected when the group driving mode was disabled. Furthermore, for example, when the group riding mode is switched from disabled to enabled, the execution unit 22 automatically selects from the state quantity set S1 the state quantity P corresponding to the Lv that was set in advance as an initial value by the rider, regardless of the state quantity P that was selected when the group riding mode was disabled.

[0047] For example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to a level that is different by a predetermined level from the level corresponding to the state quantity P selected when the group driving mode was enabled. Furthermore, for example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P corresponding to a specific level (e.g., the lowest level, the highest level, an intermediate level, etc.), regardless of the state quantity P selected when the group driving mode was enabled. Furthermore, for example, when the group driving mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 a state quantity P that was selected in the previous positional relationship adjustment operation performed when the group driving mode was disabled, regardless of the state quantity P selected when the group driving mode was enabled. Furthermore, for example, when the group riding mode is switched from enabled to disabled, the execution unit 22 automatically selects from the state quantity set S1 the state quantity P corresponding to the Lv that was set in advance as an initial value by the rider, regardless of the state quantity P that was selected when the group riding mode was enabled.

[0048] In the first and second examples, a case has been described in which the execution unit 22 automatically selects a state quantity P when the group riding mode is switched between enabled and disabled, and the state quantity P is automatically set as the control value for the positional relationship adjustment operation. However, after the execution unit 22 automatically selects a state quantity P, the state quantity P may be automatically proposed, and the state quantity P may be set as the control value for the positional relationship adjustment operation upon the rider's consent input.

[0049] Even when the group traveling mode is enabled, just as when the group traveling mode is not enabled, the execution unit 22 controls the positional relationship adjustment operation so that the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the saddle riding type vehicle 100 does not exceed the limit value. The execution unit 22 sets different limit values ​​when the group traveling mode is enabled and when the group traveling mode is not enabled.

[0050] Here, in the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "first operation mode" of the present invention), the limit value is set small, that is, the positional relationship adjustment operation is controlled to a state in which the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed occurring in the saddle riding type vehicle 100 tends to decrease (corresponding to the "first state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "second operation mode" of the present invention), the limit value is set large, that is, the positional relationship adjustment operation is controlled to a state in which the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed occurring in the saddle riding type vehicle 100 tends to increase (corresponding to the "second state" of the present invention). In the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "second operation mode" of the present invention), the limit value may be set large, that is, the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed occurring in the saddle riding type vehicle 100 may be controlled to a state in which they tend to increase (corresponding to the "second state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "first operation mode" of the present invention), the limit value may be set small, that is, the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed occurring in the saddle riding type vehicle 100 may be controlled to a state in which they tend to decrease (corresponding to the "first state" of the present invention).

[0051] Furthermore, even when the group traveling mode is enabled, just as when the group traveling mode is not enabled, the execution unit 22 controls the distribution of braking force to the front and rear wheels of the saddle riding type vehicle 100 to a predetermined ratio when outputting a command to the braking device 30 to execute the positional relationship adjustment operation. The execution unit 22 sets different ratios when the group traveling mode is enabled and when the group traveling mode is not enabled.

[0052] Here, in the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "first operation mode" of the present invention), the proportion of braking force acting on the rear wheels out of the total braking force acting on the front and rear wheels is set low, that is, the saddle riding vehicle 100 is controlled to a state (corresponding to the "first state" of the present invention) in which the rear wheel priority in the distribution of braking force to the front and rear wheels tends to decrease, and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "second operation mode" of the present invention), the proportion of braking force acting on the rear wheels out of the total braking force acting on the front and rear wheels is set high, that is, the saddle riding vehicle 100 is controlled to a state (corresponding to the "second state" of the present invention) in which the rear wheel priority in the distribution of braking force to the front and rear wheels tends to increase. In particular, in the braking process when the group riding mode is enabled, it is preferable that the rear wheel priority is increased at the start of braking and then lowered. In the positional relationship adjustment operation when the group riding mode is not enabled (corresponding to the "second operating mode" of the present invention), the proportion of the braking force acting on the rear wheels in the total braking force acting on the front and rear wheels is set high, that is, the saddle-ride type vehicle 100 is controlled to a state in which the rear wheel priority in the distribution of braking force to the front and rear wheels tends to increase (corresponding to the "second state" of the present invention), and in the positional relationship adjustment operation when the group riding mode is enabled (corresponding to the "first operating mode" of the present invention), the proportion of the braking force acting on the rear wheels in the total braking force acting on the front and rear wheels is set low, that is, the saddle-ride type vehicle 100 is controlled to a state in which the rear wheel priority in the distribution of braking force to the front and rear wheels tends to decrease (corresponding to the "first state" of the present invention).

[0053] In the above, we have explained a case where the selected state variable P, the limit value of the absolute value of the first-order derivative and / or the second-order derivative of the traveling speed of the saddle-ride type vehicle 100, and the ratio of braking force distribution to the front and rear wheels of the saddle-ride type vehicle 100 are always switched depending on whether the group traveling mode is enabled or not. However, the execution unit 22 may also determine whether or not to switch them by taking other information into consideration.

[0054] As a first example, the execution unit 22 determines the state quantity P to be selected, the limit value of the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the saddle-ride type vehicle 100, and / or whether or not to switch the ratio of braking force distribution to the front and rear wheels of the saddle-ride type vehicle 100, in accordance with road linearity information of the road on which the saddle-ride type vehicle 100 is traveling. The road linearity information may be acquired from map information, or may be acquired based on the output of the vehicle behavior sensor 12 (particularly, an inertial sensor).

[0055] For example, when the road on which the saddle riding vehicle 100 is traveling is a straight road and the group traveling mode is switched from disabled to enabled, the execution unit 22 keeps the selected state quantity P at the separating tendency, i.e., prohibits switching, and when the road on which the saddle riding vehicle 100 is traveling is a curved road and the group traveling mode is switched from disabled to enabled, the execution unit 22 switches the selected state quantity P to the approaching tendency, i.e., permits switching. For example, when the road on which the saddle riding vehicle 100 is traveling is a curved road and the group traveling mode is switched from disabled to enabled, the execution unit 22 keeps the selected state quantity P at the approaching tendency, i.e., prohibits switching, and when the road on which the saddle riding vehicle 100 is traveling is a straight road and the group traveling mode is switched from disabled to enabled, the execution unit 22 switches the selected state quantity P to the separating tendency, i.e., permits switching. For example, when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is a straight road, the execution unit 22 maintains the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated by the saddle-ride vehicle 100 in a decreasing trend, i.e., prohibits switching, and when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is a curved road, the execution unit 22 switches the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated by the saddle-ride vehicle 100 in an increasing trend, i.e., allows switching. For example, when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is curved, the execution unit 22 maintains the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated by the saddle-ride vehicle 100 with an increasing tendency, i.e., prohibits switching, and when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is straight, switches the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated by the saddle-ride vehicle 100 with a decreasing tendency, i.e., allows switching.For example, when the road on which the saddle-ride vehicle 100 is traveling is a straight road and the group driving mode is switched from disabled to enabled, the execution unit 22 maintains the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 to a decreasing tendency, i.e., prohibits the switching, and when the road on which the saddle-ride vehicle 100 is traveling is a curved road and the group driving mode is switched from disabled to enabled, the execution unit 22 switches the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 to an increasing tendency, i.e., allows the switching. For example, when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is curved, the execution unit 22 maintains the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 with an increasing tendency, i.e., prohibits switching, and when the group driving mode is switched from disabled to enabled when the road on which the saddle-ride vehicle 100 is traveling is straight, the execution unit 22 switches the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 with a decreasing tendency, i.e., allows switching.

[0056] As a second example, the execution unit 22 determines whether to switch the selected state quantity P, the limit value of the absolute value of the first-order derivative and / or the second-order derivative of the traveling speed generated in the saddle-ride type vehicle 100, and / or the ratio of braking force distribution to the front and rear wheels of the saddle-ride type vehicle 100, depending on the position information of the saddle-ride type vehicle 100 within the group (for example, information such as the front, middle, or rear).

[0057] For example, when the group traveling mode is switched from disabled to enabled while the saddle-ride type vehicle 100 is traveling at the front of the group, the execution unit 22 keeps the selected state quantity P tending to separate, i.e., prohibits the switching, and when the group traveling mode is switched from disabled to enabled while the saddle-ride type vehicle 100 is not traveling at the front of the group, the execution unit 22 switches the selected state quantity P to the tendency to approach, i.e., allows the switching. For example, when the group traveling mode is switched from disabled to enabled while the saddle-ride type vehicle 100 is not traveling at the front of the group, the execution unit 22 keeps the selected state quantity P tending to separate, i.e., prohibits the switching, and when the group traveling mode is switched from disabled to enabled while the saddle-ride type vehicle 100 is traveling at the front of the group, the execution unit 22 switches the selected state quantity P to the tendency to separate, i.e., allows the switching. For example, when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is not traveling at the rear of the group, the execution unit 22 maintains the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the decelerating saddle-ride vehicle 100 in a decreasing trend, i.e., prohibits switching, and when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is traveling at the rear of the group, the execution unit 22 switches the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the decelerating saddle-ride vehicle 100 to an increasing trend, i.e., allows switching. For example, when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is traveling at the rear of the group, the execution unit 22 maintains the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the decelerating saddle-ride vehicle 100 with an increasing tendency, i.e., prohibits switching, and when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is not traveling at the rear of the group, the execution unit 22 switches the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed of the decelerating saddle-ride vehicle 100 with a decreasing tendency, i.e., allows switching.For example, when the group riding mode is switched from disabled to enabled while the saddle-ride vehicle 100 is traveling at the rear of the group, the execution unit 22 maintains the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 in a decreasing tendency, i.e., prohibits switching, and when the group riding mode is switched from disabled to enabled while the saddle-ride vehicle 100 is not traveling at the rear of the group, the execution unit 22 switches the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 in an increasing tendency, i.e., allows switching. For example, when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is not traveling at the rear of the group, the execution unit 22 maintains the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 with an increasing tendency, i.e., prohibits switching, and when the group riding mode is switched from disabled to enabled when the saddle-ride vehicle 100 is traveling at the rear of the group, the execution unit 22 switches the rear wheel priority in the distribution of braking force to the front and rear wheels of the saddle-ride vehicle 100 with a decreasing tendency, i.e., allows switching.

[0058] <Rider assistance system operation> The operation of the rider assistance system according to the embodiment will be described. FIG. 8 is a diagram for explaining the operation flow of the control device of the rider assistance system according to the embodiment of the present invention.

[0059] The control device 20 executes the operation flow shown in FIG. 8 while the saddle-ride type vehicle 100 is traveling.

[0060] (Acquisition step) In step S101, the acquisition unit 21 acquires information about the positional relationship between the traveling saddle type vehicle 100 and the target 200. Furthermore, the acquisition unit 21 acquires various types of information as necessary.

[0061] (Steps to be taken) In step S102, the execution unit 22 executes a positional relationship adjustment operation that automatically changes the traveling speed of the saddle-ride type vehicle 100 based on the positional relationship information acquired in step S101, and adjusts the positional relationship between the saddle-ride type vehicle 100 and the target 200. In the positional relationship adjustment operation, the execution unit 22 executes different operation modes in which the state of the positional relationship between the saddle-ride type vehicle 100 and the target 200 differs depending on whether the group traveling mode is enabled or disabled.

[0062] <Effects of rider assistance systems> The effects of the rider assistance system according to the embodiment will be described. In the positional relationship adjustment operation, the control device 20 switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle 100 and the target 200 is in a first state, and a second operation mode in which the positional relationship between the saddle-ride type vehicle 100 and the target 200 is in a second state different from the first state, depending on whether a group riding mode is active, in which the saddle-ride type vehicle 100 rides in a group together with at least one other saddle-ride type vehicle 300. Therefore, it is possible to perform an appropriate positional relationship adjustment operation in a situation in which a plurality of saddle-ride type vehicles 100, 300 are riding side by side in a special positional relationship, thereby improving rider support.

[0063] Preferably, the first state is a state in which the positional relationship between the saddle-ride type vehicle 100 and the target 200 tends to move away from each other, and the second state is a state in which the positional relationship between the saddle-ride type vehicle 100 and the target 200 tends to move closer to each other. By configuring in this way, it becomes possible to appropriately control the position of the saddle-ride type vehicle 100 in a situation in which the saddle-ride type vehicle 100 is traveling in a group together with at least one other saddle-ride type vehicle 300, and it is possible to further optimize the positional relationship adjustment operation.

[0064] Preferably, the first state is a state in which the absolute value of the first-order differential and / or the absolute value of the second-order differential of the traveling speed occurring in the saddle-ride type vehicle 100 tends to decrease, and the second state is a state in which the absolute value of the first-order differential and / or the absolute value of the second-order differential of the traveling speed occurring in the saddle-ride type vehicle 100 tends to increase. By configuring in this way, in a situation in which the saddle-ride type vehicle 100 is traveling in a group together with at least one other saddle-ride type vehicle 300, it becomes possible to appropriately control changes in the traveling speed occurring in the saddle-ride type vehicle 100, and it becomes possible to further optimize the positional relationship adjustment operation.

[0065] Preferably, the first state is a state in which the rear wheel priority in the distribution of braking force between the front and rear wheels of the saddle-ride type vehicle 100 tends to decrease, and the second state is a state in which the rear wheel priority in the distribution of braking force between the front and rear wheels of the saddle-ride type vehicle 100 tends to increase. By configuring in this way, in a situation in which the saddle-ride type vehicle 100 is traveling in a group with at least one other saddle-ride type vehicle 300, it becomes possible to appropriately control the time required for the desired deceleration of the saddle-ride type vehicle 100 to occur after the braking device 30 of the saddle-ride type vehicle 100 is activated, and it becomes possible to further optimize the positional relationship adjustment operation.

[0066] Although the embodiments have been described above, only a part of the embodiments may be implemented, or parts of the embodiments may be combined, or parts of the embodiments may be modified in different ways. In other words, the present invention is not limited to the description of the embodiments.

[0067] For example, in the above description, the execution unit 22 executes, as the positional relationship adjustment operation, an operation to adjust the positional relationship between the saddle-ride type vehicle 100 and the target 200 in the longitudinal direction of the travel lane DL, but the execution unit 22 may also execute, as the positional relationship adjustment operation, an operation to adjust the positional relationship between the saddle-ride type vehicle 100 and the target 200 in the width direction of the travel lane DL. In such a case, the control device 20 may output a command to a drive mechanism added to the steering of the saddle-ride type vehicle 100 to execute the rider assistance operation. [Explanation of symbols]

[0068] 1 Rider assistance system, 11 Surrounding environment sensor, 12 Vehicle behavior sensor, 13 Setting input device, 20 Control device, 21 Acquisition unit, 22 Execution unit, 30 Braking device, 40 Driving device, 50 Notification device, 100 Saddle-type vehicle, 200 Target, 300 Other saddle-type vehicles, 300I Virtual vehicle, DL Driving lane, L1 First vehicle train, L2 Second vehicle train, P State quantity, S1, S2 State quantity set, d1, d2 Distance.

Claims

1. A control device (20) for the behavior of a saddle-ride type vehicle (100), comprising: an acquisition unit (21) that acquires positional relationship information between the saddle-ride type vehicle (100) and a target (200) while the vehicle is traveling; an execution unit (22) that executes a positional relationship adjustment operation that automatically changes the traveling speed of the saddle-ride type vehicle (100) based on the positional relationship information acquired by the acquisition unit (21) to adjust the positional relationship between the saddle-ride type vehicle (100) and the target (200), In the positional relationship adjustment operation, the execution unit (22) switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) is in a first state and a second operation mode in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) is in a second state different from the first state, depending on whether a group traveling mode in which the saddle-ride type vehicle (100) travels in a group together with at least one other saddle-ride type vehicle (300) is active or not; the execution unit (22) prohibits switching between the first operation mode and the second operation mode in the positional relationship adjustment operation in accordance with road linearity information; A control device (20).

2. The first state is a state in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) tends to become separated from each other, The second state is a state in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) tends to approach each other. The control device (20) of claim 1.

3. the execution unit (22) selects one state quantity (P) from a state quantity set (S1, S2) that combines a plurality of state quantities (P) that define the positional relationship between the saddle-ride type vehicle (100) and the target (200) in accordance with setting input information from the rider of the saddle-ride type vehicle (100), and adjusts the positional relationship between the saddle-ride type vehicle (100) and the target (200) based on the selected one state quantity (P) in the positional relationship adjustment operation; The control device (20) of claim 2.

4. the execution unit (22) uses different state quantity sets (S1, S2) in the first operation mode and the second operation mode; The control device (20) of claim 3.

5. the execution unit (22) uses the same state quantity set (S1) in the first operation mode and the second operation mode; The control device (20) of claim 3.

6. The execution unit (22) controls the absolute value of the first-order derivative and / or the absolute value of the second-order derivative of the traveling speed generated in the saddle-ride type vehicle (100) in the positional relationship adjustment operation so that they do not exceed a limit value, both when the group traveling mode is enabled and when the group traveling mode is not enabled; the first state is a state in which the limit value is set smaller than that in the second state, The second state is a state in which the limit value is set to be larger than that in the first state. The control device (20) of claim 1.

7. The first state is a state in which the rear wheel priority in the braking force distribution to the front and rear wheels of the saddle-ride type vehicle (100) tends to decrease, The second state is a state in which the rear wheel priority in the braking force distribution to the front and rear wheels of the saddle-ride type vehicle (100) tends to increase. The control device (20) of claim 1.

8. The execution unit (22) prohibits switching between the first operation mode and the second operation mode in the positional relationship adjustment operation in accordance with position information of the saddle-ride type vehicle (100) within the group. A control device (20) according to any one of claims 1 to 7.

9. The target (200A) is the other saddle-ride type vehicle (300) that belongs to the same vehicle train (L1) as the saddle-ride type vehicle (100) within the group. A control device (20) according to any one of claims 1 to 7.

10. the target (200B) is the other saddle-ride type vehicle (300) that belongs to a vehicle train (L2) different from that of the saddle-ride type vehicle (100) within the group; A control device (20) according to any one of claims 1 to 7.

11. the target (200C) is one virtual vehicle (300I) representing the plurality of other saddle-ride type vehicles (300) traveling together with the saddle-ride type vehicle (100) within the group; A control device (20) according to any one of claims 1 to 7.

12. A method for controlling the behavior of a saddle-ride type vehicle (100), comprising: an acquisition step (S101) in which an acquisition unit (21) of a control device (20) acquires positional relationship information between the saddle-ride type vehicle (100) in motion and a target (200); an execution step (S102) in which an execution unit (22) of the control device (20) executes a positional relationship adjustment operation to adjust the positional relationship between the saddle-ride type vehicle (100) and the target (200) by automatically changing the traveling speed of the saddle-ride type vehicle (100) based on the positional relationship information acquired in the acquisition step (S101); It is equipped with In the execution step (S102), the execution unit (22) switches between a first operation mode in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) is in a first state and a second operation mode in which the positional relationship between the saddle-ride type vehicle (100) and the target (200) is in a second state different from the first state, depending on whether a group traveling mode in which the saddle-ride type vehicle (100) travels in a group together with at least one other saddle-ride type vehicle (300) is active or not, the execution unit (22) prohibits switching between the first operation mode and the second operation mode in the positional relationship adjustment operation in accordance with road linearity information; Control method.

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