Driving assistance device and saddle-type vehicle

Abstract

Provided are a saddle-riding-type vehicle and a travel assistance device, with which it is possible to improve detection accuracy of an object and to suppress excessive detection of an object.　This travel assistance device comprises: a position detection unit (111a) that detects the travel position (DP) of an own vehicle in a travel lane (DL) on which the own vehicle is traveling; a range setting unit (111b) that sets prescribed ranges (DMa, DMb, DCa, DCb) around the own vehicle on the basis of a detection result of the position detection unit (111a); an object detection unit (111c) that detects whether or not there is an object in the prescribed ranges (DMa, DMb, DCa, DCb); and a BSI display device (12) that notifies an occupant in the own vehicle that an object has been detected by the object detection unit (111c).

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a saddle-ride type vehicle. [Background technology]

[0002] In recent years, four-wheeled vehicles have become known to be equipped with systems that detect other vehicles in the rear and sides of the vehicle, which are often in blind spots, and warn the driver. Similar blind spot monitoring systems are also being considered for motorcycles.

[0003] Patent Document 1 discloses a blind spot monitoring system that includes: "a processing device that correlates signals from an object detector and a tilt detector, identifies the relative position of a vehicle in an adjacent lane based on the tilt of the motorcycle, and has parameters for the location of a blind spot for the user; and a transmission device that notifies a user operating a motorcycle when the processing device determines that a vehicle is in the user's blind spot or that a collision will occur if the user attempts to change lanes."

[0004] Patent Document 2 discloses a vehicle driving assistance device that includes: an object recognition means for recognizing an object present in front of the vehicle; a control means for issuing an alarm to the driver of the vehicle or automatically controlling the vehicle when the object recognized by the object recognition means poses a possibility of collision with the vehicle within a predetermined road range; and a control range variable means for changing the predetermined road range laterally in accordance with road conditions.

[0005] Patent Document 3 discloses a "travel assistance device that detects a following vehicle, such as an automobile or motorcycle, traveling directly behind a host vehicle, based on images of a first predetermined area and a second predetermined area." The first predetermined area is located from an adjacent lane behind one side of the host vehicle, straddling the lane markings, to the immediately rear side of the host vehicle, and the second predetermined area is located from an adjacent lane behind the other side of the host vehicle, straddling the lane markings, to the immediately rear side of the host vehicle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2016 / 010689 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-145282 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-227639 Summary of the Invention [Problem to be solved by the invention]

[0007] A saddle-type vehicle traveling at the right or left edge of a travel lane has a problem in that it is difficult to detect a vehicle approaching from behind in an adjacent lane. If the detection area for a vehicle approaching from behind in an adjacent lane is set large in advance to make it easier to detect the vehicle, the detection area may include lanes adjacent to the adjacent lane. In this case, vehicles in lanes that do not need to be detected may be detected, resulting in overdetection and excessive notification to the driver, which can be annoying. Thus, there is a trade-off between improving the detection accuracy of other vehicles and overdetection. The technologies disclosed in Patent Documents 1 to 3 do not consider the travel position of the saddle-type vehicle within the travel lane.

[0008] In order to solve the above problems, the present application aims to improve the object detection accuracy and to suppress overdetection of objects. [Means for solving the problem]

[0009] This specification includes the entire contents of Japanese Patent Application No. 2023-051146, filed on March 28, 2023. The driving assistance device is characterized by comprising a position detection unit that detects the driving position of the vehicle within the driving lane in which the vehicle is traveling, a range setting unit that sets a predetermined range around the vehicle based on the detection result of the position detection unit, an object detection unit that detects whether an object is present within the predetermined range, and an alarm unit that alerts an occupant of the vehicle that the object has been detected by the object detection unit.

[0010] The saddle-type vehicle includes the driving assistance device, an ambient environment detection unit that detects the ambient environment of the vehicle, an operation unit that operates the turn signal, and an operation detection unit that is provided in the driving assistance device and detects operation of the operation unit by the occupant. [Effects of the Invention]

[0011] This improves the accuracy of object detection and prevents excessive object detection. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing an example of a schematic configuration of a saddle-ride type vehicle according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of a notification detection range according to the first embodiment. [Figure 3] FIG. 3 is a schematic diagram showing an example of a notification detection range of a comparative example. [Figure 4] FIG. 4 is a schematic diagram showing another example of the notification detection range of the comparative example. [Figure 5] FIG. 5 is a flowchart showing an example of the operation of the driving assistance device of the first embodiment. [Figure 6] FIG. 6 is a schematic diagram showing notification detection ranges FM1a and FM1b. [Figure 7] FIG. 7 is a schematic diagram showing notification detection ranges FC1a and CCb. [Figure 8] FIG. 8 is a schematic diagram showing the notification detection ranges CCa and CCb. [Figure 9] FIG. 9 is a schematic diagram showing the notification detection ranges FM2a and FM2b. [Figure 10] FIG. 10 is a schematic diagram showing the notification detection ranges FC2a and FC2b. [Figure 11] FIG. 11 is a flowchart showing an example of the operation of the driving assistance device of the second embodiment. [Figure 12] FIG. 12 is a schematic diagram showing an example of a notification detection range. DETAILED DESCRIPTION OF THE INVENTION

[0013] [1. First embodiment] [1-1. Configuration of saddle-type vehicles] A schematic configuration of a saddle-ride type vehicle according to a first embodiment of the present disclosure will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of a schematic configuration of a saddle-ride type vehicle 1.

[0014] As shown in FIG. 1, the saddle-ride type vehicle 1 includes a driving assistance device 10 according to the first embodiment of the present disclosure, an ambient environment detection unit 20 that detects the ambient environment of the vehicle (i.e., the saddle-ride type vehicle 1), an operation unit 40 that operates a turn signal (not shown), and an operation detection unit 111d that is provided in the driving assistance device 10 and detects operation of the operation unit 40 by an occupant (not shown) of the saddle-ride type vehicle 1.

[0015] The saddle-ride type vehicle 1 includes an ECU 11 provided in the driving assistance device 10. ECU 11 is an abbreviation of Electronic Control Unit. The ECU 11 is a computer device including a control unit 111, a storage unit 112, and a communication interface circuit (not shown), etc.

[0016] The storage unit 112 includes memories such as ROM and RAM. ROM is an abbreviation for Read Only Memory. RAM is an abbreviation for Random Access Memory. The storage unit 112 stores the control program executed by the control unit 111. The storage unit 112 also stores data processed by the control unit 111 when the computer program is executed and data resulting from the processing. The storage unit 112 also stores a first fixed range and a second fixed range (both of which will be described in detail later) that are set as notification detection ranges for detecting objects present around the saddle-ride type vehicle 1.

[0017] The control unit 111 is composed of a CPU, a microcomputer, etc., and controls each part of the ECU 11 by executing a computer program. CPU is an abbreviation for Central Processing Unit. The control unit 111 may also be an SoC that integrates the control unit 111 and the storage unit 112. SoC is an abbreviation for System-on-a-chip.

[0018] The ECU 11 is connected to a surrounding environment detection unit 20, an in-vehicle sensor 30, and an operation unit 40. The ECU 11 is also connected to a BSI display device 12. BSI is an abbreviation for Blind Spot Information. The BSI is a system that detects vehicles diagonally behind the vehicle, which are likely to be in a blind spot while driving, and alerts the occupant of the saddle-ride type vehicle 1 to reduce the driving burden. The ECU 11 and the BSI display device 12 make up a driving assistance device 10.

[0019] The surrounding environment detection unit 20, the on-board sensors 30, the operation unit 40, and the BSI display device 12 are connected to the ECU 11 via a communication line so as to be able to transmit and receive signal information such as detection signals and control signals to and from the ECU 11.

[0020] The surrounding environment detection unit 20 has a vehicle front monitoring sensor 201, a vehicle periphery monitoring sensor 202, and a GPS receiver 203. GPS is an abbreviation for Global Positioning System. The vehicle front monitoring sensor 201 monitors the area ahead of the saddle-ride type vehicle 1, i.e., the area ahead of the vehicle. The vehicle front monitoring sensor 201 includes, for example, a forward monitoring radar, a forward monitoring laser, a forward monitoring camera, and a forward monitoring drive recorder (none of which are shown).

[0021] The vehicle forward monitoring sensor 201 detects the distance and direction to an object ahead of the vehicle (for example, a preceding vehicle traveling ahead of the vehicle or an obstacle ahead of the vehicle) by using radio waves (for example, millimeter waves) emitted from a forward monitoring radar toward the front of the vehicle and measuring the reflected waves from the object ahead of the vehicle.

[0022] The vehicle forward monitoring sensor 201 detects at least the distance to an object (e.g., a preceding vehicle or an obstacle) ahead of the vehicle by measuring the laser light reflected from the object using a laser light (e.g., infrared light) emitted from a forward monitoring laser towards the front of the vehicle. The forward monitoring laser detects at least the distance to the preceding vehicle traveling ahead of the vehicle or the obstacle ahead of the vehicle.

[0023] The vehicle front monitoring sensor 201 captures an image of the area ahead of the vehicle using a front monitoring camera (for example, a solid-state image sensor). The vehicle forward monitoring sensor 201 records monitoring information from a forward monitoring radar, a forward monitoring laser, and a forward monitoring camera using a forward monitoring drive recorder.

[0024] The vehicle periphery monitoring sensor 202 detects the surrounding environment of the saddle-ride type vehicle 1. The vehicle periphery monitoring sensor 202 detects the surroundings of the vehicle, such as the sides of the saddle-ride type vehicle 1 and the rear of the saddle-ride type vehicle 1, as the surrounding environment of the saddle-ride type vehicle 1. The vehicle periphery monitoring sensor 202 may detect, as the vehicle periphery, a range that overlaps with the range monitored by the vehicle front monitoring sensor 201. The vehicle periphery monitoring sensor 202 includes a periphery detection radar, a periphery detection laser, a periphery detection camera, and a periphery detection drive recorder (none of which are shown).

[0025] The vehicle periphery monitoring sensor 202 detects the distance and direction to an object around the vehicle (for example, a vehicle traveling parallel to the vehicle, a following vehicle traveling behind the vehicle, or an obstacle) by measuring the reflected wave from the object using radio waves (for example, millimeter waves) emitted from the periphery detection radar toward the periphery of the vehicle. The periphery detection radar may be provided, for example, on the left and right sides of the saddle-ride type vehicle 1, and multiple radars may be provided on each side.

[0026] The vehicle surroundings monitoring sensor 202 uses laser light (e.g., infrared light) emitted from a surroundings detection laser toward the periphery of the vehicle to measure the reflected laser light from objects around the vehicle (e.g., parallel vehicles, following vehicles, and obstacles), thereby detecting at least the distance to the objects.

[0027] The vehicle periphery monitoring sensor 202 captures images of the periphery of the vehicle using a periphery detection camera (for example, a solid-state image sensor). The vehicle periphery monitoring sensor 202 records the detection information of the periphery detection radar, the periphery detection laser, and the periphery detection camera by the periphery detection drive recorder.

[0028] The GPS receiver 203 is a processing device that receives GPS signals via an antenna (not shown) and calculates the position of the saddle-ride type vehicle 1 based on the received GPS signals.

[0029] The on-vehicle sensor 30 detects the state of the saddle-ride type vehicle 1, such as the speed and engine rotation speed of the saddle-ride type vehicle 1. The on-vehicle sensor 30 includes an acceleration sensor that detects the acceleration of the saddle-ride type vehicle 1, a vehicle speed sensor that detects the speed of the saddle-ride type vehicle 1 (i.e., vehicle speed), and an engine rotation speed sensor that detects the rotation speed of the engine of the saddle-ride type vehicle 1 (none of which are shown).

[0030] The operating unit 40 has various switches that can be operated by a passenger of the saddle-ride type vehicle 1. The operating unit 40 has, for example, a main switch that turns on and off the power supply to electrical components mounted on the saddle-ride type vehicle 1, a turn signal switch that flashes the turn signals, a headlight switch that turns on the headlights, an upshift switch that upshifts the transmission, a downshift switch that downshifts the transmission, a starter switch that starts the engine, and the like.

[0031] [1-2. Driving support device] [1-2-1. Configuration of driving assistance device] A driving assistance device 10 according to this embodiment will be described with reference to Figures 1 to 4. As part of BSI, the driving assistance device 10 changes the size of a notification detection range for detecting and notifying an object present around the vehicle, based on the vehicle's driving position in the driving lane, thereby improving the accuracy of object detection and suppressing overdetection.

[0032] 1, a driving assistance device 10 according to this embodiment includes an ECU 11 and a BSI display device 12. A control unit 111 provided in the ECU 11 reads and executes a computer program stored in a storage unit 112, thereby functioning as a position detection unit 111a, a range setting unit 111b, an object detection unit 111c, and an operation detection unit 111d.

[0033] The position detection unit 111a detects a traveling position DP of the saddle-ride type vehicle 1 in a traveling lane DL (see FIG. 2) in which the saddle-ride type vehicle (i.e., the saddle-ride type vehicle 1) is traveling. The input of the position detection unit 111a is connected to the output of the surrounding environment detection unit 20. Therefore, monitoring information detected by the vehicle forward monitoring sensor 201 and the vehicle periphery monitoring sensor 202 and position information received by the GPS receiver 203 are input to the position detection unit 111a. The position detection unit 111a detects the traveling lane DL and the traveling position DP based on, for example, at least one of the monitoring information (e.g., image data) input from the vehicle forward monitoring sensor 201 and the vehicle periphery monitoring sensor 202 and the position information input from the GPS receiver 203.

[0034] The input of the operation detection unit 111d is connected to the output of the operation unit 40. Therefore, a detection signal indicating that the operation unit 40 has been operated by the occupant is input to the operation detection unit 111d. This allows the operation detection unit 111d to detect the operation of the operation unit 40 by the occupant.

[0035] The range setting unit 111b sets a notification detection range (an example of a predetermined range) around the vehicle based on the detection result of the position detection unit 111a. As will be described in detail later, the notification detection range is a range for detecting objects in order to notify the driver that an object exists around the saddle riding type vehicle 1 or that an object is approaching the periphery. The input of the range setting unit 111b is connected to the output of the position detection unit 111a. Therefore, the range setting unit 111b receives the driving lane DL and driving position DP as detection results detected by the position detection unit 111a. The range setting unit 111b sets the notification detection range based on the driving lane DL and driving position DP input from the position detection unit 111a. In addition, the input of the range setting unit 111b is connected to the output of the operation detection unit 111d. As will be described in detail later, the range setting unit 111b determines the size of the notification detection range depending on whether a signal indicating that a turn signal has been operated is input from the operation detection unit 111d.

[0036] The object detection unit 111c detects whether or not an object exists within the notification detection range set by the range setting unit 111b. The range setting unit 111b detects, for example, a vehicle, a person, or an obstacle that exists around the saddle riding type vehicle 1 or is approaching the saddle riding type vehicle 1 as an object.

[0037] The BSI display device 12 (an example of a notification unit) notifies an occupant of the vehicle that an object has been detected by the object detection unit 111c. The BSI display device 12 is provided, for example, in a display device (not shown) that is provided with instruments (not shown) that display information about the state of the saddle-ride type vehicle 1 (e.g., vehicle speed and engine RPM) and a monitor (not shown) that displays various information. The BSI display device 12 is further provided, for example, in a rearview mirror (not shown). The BSI display device 12 is provided in the saddle-ride type vehicle 1 in a manner that allows an occupant driving the saddle-ride type vehicle 1 to be aware that an object has been detected by the object detection unit 111c. In this embodiment, for example, the BSI display device 12 notifies an occupant of the vehicle of object detection only through the rearview mirror when it is desired to call for normal caution when the turn signal is not operated. Furthermore, for example, when it is desired to call for greater caution than usual when the turn signal is operated, the BSI display device 12 may notify an occupant of the object detection both through the rearview mirror and through the display device provided with the instruments.

[0038] [1-2-2. Notification detection range set by the driving assistance device] The notification detection range, which corresponds to an example of the predetermined range set by the driving support device 10, will be described using Figures 2 to 4 with reference to Figure 1. Figure 2 is a schematic overhead view showing a state in which the saddle-ride type vehicle 1 is traveling on a three-lane road.

[0039] As shown in Fig. 2, the three lanes are divided by white lines WL1, WL2, WL3, and WL4. The central driving lane DL in which the saddle-ride type vehicle 1 is traveling is divided from the adjacent lane AL1 on the left side by a white line WL2, and from the adjacent lane AL2 on the right side by a white line WL3. When the operation detection unit 111d does not detect an operation of a turn signal by the occupant of the saddle-ride type vehicle 1, the range setting unit 111b (see Fig. 1) sets a notification detection range DMa (an example of a predetermined range) in an area extending from the left side of the saddle-ride type vehicle 1 toward the left rear, and a notification detection range DMb (an example of a predetermined range) in an area extending from the right side of the saddle-ride type vehicle 1 toward the right rear. When the operation detection unit 111d detects a turn signal operation by an occupant of the saddle-ride type vehicle 1, the range setting unit 111b (see FIG. 1) sets a notification detection range DCa (an example of a predetermined range) in an area extending from the left side toward the left rear of the rear of the saddle-ride type vehicle 1, and a notification detection range DCb (an example of a predetermined range) in an area extending from the right side toward the right rear of the rear of the saddle-ride type vehicle 1. The range setting unit 111b sets a notification detection range that is larger when the operation detection unit 111d detects a turn signal operation by an occupant of the saddle-ride type vehicle 1 than when the operation is not detected.

[0040] When the vehicle is traveling on the left side of the driving lane DL with respect to the center of the driving lane DL in the width direction (the imaginary center line CL in Fig. 2), the range setting unit 111b sets the right-side notification detection range DCb to be larger in the width direction than the left-side notification detection range DCa, as shown in Fig. 2. On the other hand, when the vehicle is traveling on the right side of the driving lane DL with respect to the center of the driving lane DL in the width direction, the range setting unit 111b sets the left-side notification detection range DCa to be larger in the width direction than the right-side notification detection range DCb.

[0041] 3 and 4 are schematic overhead views showing a state in which a saddle-ride type vehicle 1X according to a comparative example is traveling on a three-lane road. Unlike the saddle-ride type vehicle 1 according to this embodiment, the saddle-ride type vehicle 1X does not have a range setting unit 111b. Therefore, regardless of where in the traveling lane DL the saddle-ride type vehicle 1X is traveling, when it detects a turn signal operation, it sets notification detection ranges DRa and DRb of the same size on both the left and right sides.

[0042] Fig. 3 shows a state in which notification detection ranges DRa and DRb having a width equivalent to approximately one lane are set. As shown in Fig. 3, assume that the saddle-riding type vehicle 1X is traveling on the left side of the imaginary center line CL of the traveling lane DL, and notification detection ranges DRa and DRb having a width equivalent to one lane are set. In this case, the notification detection range DRa includes almost the entire width of the adjacent lane AL1 adjacent to the left side of the traveling lane DL, and is set in a predetermined area from the left side to the left rear of the saddle-riding type vehicle 1X. On the other hand, the notification detection range DRb includes the traveling lane DL to the right of the imaginary center line CL and a portion of the width of the adjacent lane AL2 adjacent to the right side of the traveling lane DL, and is set in a predetermined area from the right side to the right rear of the rear of the saddle-riding type vehicle 1X.

[0043] For this reason, the saddle-ride type vehicle 1X can detect objects, such as a vehicle approaching the saddle-ride type vehicle 1X, in the adjacent lane AL1. However, in the saddle-ride type vehicle 1X, the area adjacent to the right of the notification detection range DRb in the width direction of the adjacent lane AL2 becomes a non-detection range NDR in which objects cannot be detected. As a result, it is difficult for the saddle-ride type vehicle 1X to adequately detect objects, such as a vehicle approaching the saddle-ride type vehicle 1X, in the adjacent lane AL2.

[0044] 4 shows a state in which notification detection ranges DRa and DRb are set to have a width equivalent to approximately two lanes. As shown in FIG. 4, assume that the saddle-riding type vehicle 1X is traveling on the left side of the imaginary center line CL of the traveling lane DL, and notification detection ranges DRa and DRb are set to have a width equivalent to two lanes. In this case, the notification detection range DRa is set to include the entire width of the adjacent lane AL1 adjacent to the left side of the traveling lane DL and a part of the area adjacent to the left side of the adjacent lane AL1, and to a predetermined area from the left side to the left rear of the saddle-riding type vehicle 1X. On the other hand, the notification detection range DRb is set to include almost the entire width of the traveling lane DL to the right of the imaginary center line CL and the adjacent lane AL2 adjacent to the right side of the traveling lane DL, and to a predetermined area from the right side to the right rear of the rear of the saddle-riding type vehicle 1X.

[0045] Therefore, the saddle type vehicle 1X can detect objects, such as vehicles approaching the saddle type vehicle 1X, in the adjacent lanes AL1 and AL2. However, in the example shown in Fig. 4, the area adjacent to the left side of the adjacent lane AL1 is an excessive detection range OR. As a result, the saddle type vehicle 1X also detects objects in the adjacent lane AL1 that do not need to be detected, which reduces the detection accuracy of objects present around the vehicle or objects approaching the periphery.

[0046] In contrast, the driving assistance device 10 provided in the saddle-ride type vehicle 1 is equipped with a range setting unit 111b. As a result, regardless of where in the width direction of the driving lane DL the driving assistance device 10 is traveling, it can simultaneously set predetermined areas of the driving lane DL and adjacent lanes AL1 and AL2 as the notification detection range, and can exclude areas adjacent to the adjacent lanes AL1 and AL2 on the opposite side of the driving lane DL from the notification detection range. As a result, the saddle-ride type vehicle 1 can improve the detection accuracy of objects present in the vicinity of the vehicle or objects approaching the vicinity, and can suppress overdetection of the objects.

[0047] [1-3. Operation of driving support device] [1-3-1. Processing flow of the driving support device] The operation of the driving support device 10 according to this embodiment will be described using Figures 5 to 10 with reference to Figures 1 and 2. Figure 5 is a flowchart showing an example of the flow of a process for notifying the detection of an object using a notification detection range, as the operation of the driving support device 10. When the driving support device 10 is powered on (i.e., when the voltage value of the power supply becomes greater than a predetermined value), the driving support device 10 starts the process shown in Figure 5.

[0048] As shown in Fig. 5, when the driving assistance device 10 (see Fig. 1) starts operating, in step S11, the operation detection unit 111d (see Fig. 1) determines whether or not a signal indicating that a turn signal is being operated is included in the detection signal input from the operation unit 40 (see Fig. 1). If the operation detection unit 111d determines that a signal indicating that a turn signal has been operated is included and that the turn signal has been operated (step S11: YES), the operation detection unit 111d proceeds to processing in step S12. On the other hand, if the operation detection unit 111d determines that a signal indicating that a turn signal has been operated is not included and that the turn signal has not been operated (step S11: NO), the operation detection unit 111d proceeds to processing in step S18.

[0049] The range setting unit 111b (see FIG. 1) can select between a calculation setting mode in which the notification detection range is calculated and set, and a fixed setting mode in which the notification detection range is set to a fixed range. The calculation setting mode is selected when a turn signal operation by the occupant is detected, and the fixed setting mode is selected when a turn signal operation is not detected. Therefore, in step S11, the range setting unit 111b selects the calculation setting mode when information indicating that a turn signal has been operated is input from the operation detection unit 111d. On the other hand, in step S11, the range setting unit 111b selects the fixed setting mode when information indicating that a turn signal has not been operated is input from the operation detection unit 111d.

[0050] In step S12, the position detection unit 111a determines whether or not the traveling position DP (see FIG. 2) of the saddle riding type vehicle 1 has been detected, based on the detection result input from the surrounding environment detection unit 20 (see FIG. 1). If the position detection unit 111a determines that the traveling position DP has been detected (step S12: YES), the process proceeds to step S13. On the other hand, if the position detection unit 111a determines that the traveling position DP has not been detected (step S12: NO), the process proceeds to step S17.

[0051] In step S13, the range setting unit 111b calculates and sets the notification detection range, and the process proceeds to step S14. The range setting unit 111b determines whether the traveling position DP is on the left or right side of the virtual center line CL (an example of the center) in the width direction of the traveling lane DL (see FIG. 2), and sets the notification detection range on the side where the traveling position DP is not present to be larger in the left-right direction than the notification detection range on the side where the traveling position DP is present.

[0052] In step S14, the object detection unit 111c determines whether an object present in the notification detection range has been detected as an object to be notified. Specifically, the object detection unit 111c determines whether an object to be notified exists within the notification detection range input from the range setting unit 111b based on a detection signal input from the surrounding environment detection unit 20 (see FIG. 1). The detection signal includes, for example, distance to the object and position information measured by reflected waves or reflected laser light detected by the vehicle periphery monitoring sensor 202 (see FIG. 1). If the object detection unit 111c determines that an object to be notified has been detected (step S14: YES), the process proceeds to step S15. On the other hand, if the object detection unit 111c determines that an object to be notified has not been detected (step S14: NO), the process proceeds to step S16.

[0053] In step S15, the BSI display device 12 notifies the occupant that an object is present within the notification detection range, and the process proceeds to step S16. In step S15 after it is determined that the blinker has been operated (YES in step S11), the BSI display device 12 issues a warning on both the display device side where the instruments and the like are provided and the rearview mirror side.

[0054] In step S16, it is determined whether the power supply for operating the driving support device 10 is in an off state. If the voltage value of the power supply input to the driving support device 10 is lower than a predetermined value (step S16: YES), the driving support device 10 determines that the power supply is in an off state and terminates operation. On the other hand, if the voltage value of the power supply input to the driving support device 10 is equal to or higher than the predetermined value (step S16: NO), the driving support device 10 determines that the power supply is not in an off state and returns to the processing of step S11.

[0055] In step S17, after switching from the calculation setting mode to the fixed setting mode, the range setting unit 111b sets the notification detection range stored in advance in the storage unit 112 (see FIG. 1) as a second fixed range for lane changes (details will be described later), and proceeds to the processing of step S14. The processing of step S17 is processing that occurs after the calculation setting mode is selected in the processing of step S11 and it is determined in the processing of step S12 that the traveling position DP has not been detected. Therefore, even if the calculation setting mode is selected, if the position detection unit 111a has not detected the traveling position DP, the range setting unit 111b switches from the calculation setting mode to the fixed setting mode.

[0056] In step S18, the same processing as in step S12 is executed. In step S18, if the position detection unit 111a determines that the traveling position DP has been detected (step S18: YES), the processing proceeds to step S19. On the other hand, if the position detection unit 111a determines that the traveling position DP has not been detected (step S18: NO), the processing proceeds to step S20.

[0057] In step S19, the range setting unit 111b sets the notification detection range to a first fixed range for lane keeping (details will be described later), and proceeds to the processing of step S14. The processing of step S18 is processing that is performed after the fixed setting mode is selected in the processing of step S11. Therefore, the range setting unit 111b acquires and sets the first fixed range that is stored in advance in the storage unit 112 (see FIG. 1).

[0058] In step S20, the range setting unit 111b sets the notification detection range to a second fixed range for lane change (details will be described later), and proceeds to the processing of step S14. The processing of step S20 is the processing performed after the fixed setting mode is selected in the processing of step S11 and it is determined in step S18 that the traveling position DP has not been detected. Therefore, the range setting unit 111b acquires and sets a second fixed range that is larger than the first fixed range and that is stored in advance in the storage unit 112 (see FIG. 1). In this way, in the fixed setting mode, the range setting unit 111b sets, as the notification detection range, a fixed range that has a larger range when the position detection unit 111a is unable to detect the traveling position DP than when the position detection unit 111a is able to detect the traveling position DP.

[0059] The process of step S17 is performed after it is determined that the blinker has been operated (step S11: YES). Therefore, in step S15 after the process of step S17 is performed, the BSI display device 12 issues a warning on both the display device side where the instruments and the like are provided and the rearview mirror side.

[0060] The processes of steps S19 and S20 are performed after it is determined that the blinker is not operated (step S11: NO). Therefore, in step S15 after the process of step S19 or step S20 is executed, the BSI display device 12 issues an alert only on the display device side where the instruments, etc. are provided.

[0061] [1-3-2. Aspects of the Predetermined Range Set by the Driving Assistance Device] The aspects of the predetermined range set by the driving assistance device 10 according to this embodiment will be described using Figures 6 to 10 with reference to Figures 1, 2, and 5. Figures 6 to 10 are bird's-eye views that schematically show a state in which the saddle-ride type vehicle 1 is traveling on a three-lane road. Figures 6 to 10 show a state in which the saddle-ride type vehicle 1 is traveling on the left side of the driving lane DL with respect to the center (imaginary center line CL) in the width direction of the driving lane DL.

[0062] Figure 6 schematically illustrates first fixed ranges FM1a, FM1b that are set as notification detection ranges (an example of a predetermined range) during the initial setting when the saddle-ride type vehicle 1 starts operating or during the processing of step S19 in the processing flow of "step S11 → step S18 → step S19" shown in Figure 5.

[0063] The processing of step S19 is performed after the operation of a turn signal is not detected and the traveling position DP is detected. Therefore, as shown in Fig. 6, the range setting unit 111b sets a first fixed range FM1a including a predetermined area from the left side to the left rear of the saddle riding type vehicle 1 as the notification detection range, and sets a first fixed range FM1b including a predetermined area from the right side to the right rear of the saddle riding type vehicle 1 as the notification detection range. Since the operation of a turn signal is not detected, the first fixed ranges FM1a and FM1b are set in a state where the saddle riding type vehicle 1 is traveling while maintaining the traveling position DP, and therefore correspond to the first fixed ranges for lane keeping.

[0064] The first fixed ranges FM1a and FM1b have, for example, a square shape and are the same size. The first fixed range FM1a is sized to include almost the entire width of the adjacent lane AL1 adjacent to the left side of the driving lane DL. Because the driving position DP of the saddle-ride type vehicle 1 is located on the left side of the imaginary center line CL of the driving lane DL, the first fixed range FM1b is sized to include a portion of the width of the driving lane DL to the right of the imaginary center line CL and the adjacent lane AL2 adjacent to the right side of the driving lane DL.

[0065] The processing of step S19 is not intended to change the traveling position DP of the saddle type vehicle 1. For this reason, even if the lane that is relatively far from the traveling position DP (the adjacent lane AL2 in FIG. 6) of the adjacent lanes AL1 and AL2 is hardly included in the notification detection range (the first fixed range FM1b in FIG. 6), it is still sufficient as a range for detecting objects that are present around the saddle type vehicle 1 or objects approaching the periphery.

[0066] Although detailed explanation will be omitted, the saddle-ride type vehicle 1 detects whether an object is present or approaching in the forward detection range FDR in parallel with the object notification process using the notification detection range.

[0067] Fig. 7 schematically illustrates a first fixed range FC1a and a notification detection range CCb that are set as notification detection ranges (an example of a predetermined range) in the process of step S13 in the process flow of "step S11 → step S12 → step S13" shown in Fig. 5. For ease of understanding, Fig. 7 also illustrates the first fixed ranges FM1a and FM1b shown in Fig. 6.

[0068] The process of step S13 is performed after the operation of a turn signal is detected and the traveling position DP is detected. Therefore, as shown in FIG. 7, the range setting unit 111b sets a notification detection range CCb (an example of a predetermined range) on the side where the traveling position DP is not present (the right side in FIG. 7) to be larger in the left-right direction (i.e., the width direction of the traveling lane DL) than a first fixed range FC1a (an example of a predetermined range) on the side where the traveling position DP is present (the left side in FIG. 7). The first fixed range FC1a is set in a predetermined area from the left side to the left rear of the rear of the saddle riding type vehicle 1. The notification detection range CCb is set in a predetermined area from the right side to the right rear of the rear of the saddle riding type vehicle 1. The first fixed range FC1a, which is set when the operation of a turn signal is detected, has a longer length in the direction in which the traveling lane DL extends (i.e., a direction intersecting the width direction of the traveling lane DL) than the first fixed range FM1a, which is set when the operation of a turn signal is not detected. Furthermore, the notification detection range CCb has, for example, the same length as the first fixed range FC1a. In this way, the saddle-ride type vehicle 1 sets the notification detection range to include a wider area around the vehicle when a turn signal operation is detected compared to when the operation is not detected, thereby enabling early detection of an object that exists or is approaching in the direction in which the saddle-ride type vehicle 1 may move to change lanes.

[0069] In this embodiment, the first fixed range FC1a is stored in, for example, the storage unit 112 (see FIG. 1), and the range setting unit 111b acquires and sets the first fixed range FC1a from the storage unit 112. The range setting unit 111b sets a notification detection range CCb (an example of a predetermined range) across the driving lane DL and the adjacent lane AL2 so as to include an area beyond the imaginary center line CLa (an example of a center) in the width direction of the adjacent lane AL2 that is adjacent to the driving lane DL. Specifically, the range setting unit 111b extracts the width direction size of the driving lane DL, the driving position DP, the imaginary center line CL of the driving lane DL, the width direction size of the adjacent lane AL2, and the imaginary center line CLa of the adjacent lane AL2 based on the detection results input from the position detection unit 111a (see FIG. 1). The range setting unit 111b calculates the size of the notification detection range CCb in the width direction of the driving lane DL so as to include the range from the region of the driving lane DL corresponding to the right side of the imaginary center line CL to the region beyond the imaginary center line CLa (the region on the right side of the imaginary center line CLa in FIG. 7). The range setting unit 111b also determines the size of the notification detection range CCb in the extension direction of the driving lane DL to be the same as the size of the first fixed range FC1a in that extension direction. In this way, the range setting unit 111b sets the notification detection range CCb in step S13. Of the two long side edges of the notification detection range CCb, the edge that exists in the adjacent lane AL2 does not have to reach the white line WL4 as long as it exists in the region beyond the imaginary center line CLa as viewed from the saddle type vehicle 1.

[0070] Fig. 8 schematically illustrates notification detection ranges CCa and CCb that are set as notification detection ranges (an example of a predetermined range) in the process of step S13 in the processing flow of "step S11 → step S12 → step S13" shown in Fig. 5. The notification detection ranges CCa and CCb shown in Fig. 8 are calculated and set by a method different from that of the notification detection range CCb shown in Fig. 7. For ease of understanding, Fig. 8 also illustrates first fixed ranges FC1a and FC1b.

[0071] In the example shown in FIG. 8, the range setting unit 111b sets the notification detection ranges CCa and CCb according to the degree of lateral deviation of the traveling position DP in the traveling lane DL. The range setting unit 111b calculates, for example, the distance R1 of the deviation of the traveling position DP from the imaginary center line CL as the lateral deviation of the traveling position DP. The range setting unit 111b calculates the distance R1 based on the detection results input from the position detection unit 111a. The range setting unit 111b sets the notification detection range CCa on the side of the imaginary center line CL where the traveling position DP exists, which is narrower in the width direction than the first fixed range FC1a by the distance R1. Furthermore, the range setting unit 111b sets the notification detection range CCb on the side of the imaginary center line CL where the traveling position DP does not exist, which is wider in the width direction than the first fixed range FC1b by the distance R1. In this manner, the range setting unit 111b may set the notification detection range CCb in step S13.

[0072] In this way, even if the widthwise size of the notification detection ranges CCa and CCb is increased or decreased depending on the degree of left-right deviation of the driving position DP in the driving lane DL, a sufficient range can be secured to detect objects present in the vicinity of the saddle-type vehicle 1 or objects approaching the vicinity.

[0073] Fig. 9 schematically illustrates second fixed ranges FM2a and FM2b that are set as the notification detection range (an example of a predetermined range) in the process of step S20 in the process flow of "step S11 → step S18 → step S20" shown in Fig. 5. For ease of understanding, Fig. 9 also illustrates first fixed ranges FM1a and FM1b.

[0074] 9, the process of step S20 is performed after it is determined that neither the operation of a turn signal nor the driving position DP has been detected. Therefore, the range setting unit 111b sets second fixed ranges FM2a, FM2b that have a range larger in the width direction of the driving lane DL than the first fixed ranges FM1a, FM1b that are set after the operation of a turn signal is not detected and the driving position DP is detected. The second fixed ranges FM2a, FM2b are stored in, for example, the memory unit 112. The range setting unit 111b acquires and sets the second fixed ranges FM2a, FM2b from the memory unit 112.

[0075] The second fixed ranges FM2a and FM2b have the same size as the first fixed ranges FM1a and FM1b in the direction in which the driving lane DL extends, for example. The second fixed ranges FM2a and FM2b correspond to the second fixed ranges for lane keeping because they are set in a state in which the saddle-ride type vehicle 1 is traveling while maintaining the traveling position DP because no blinker operation has been detected.

[0076] The second fixed ranges FM2a and FM2b have a length in the width direction of the driving lane DL that is, for example, about 1.5 times the length in the width direction. As a result, as shown in FIG. 9 , when the driving position of the saddle-riding type vehicle 1 is, for example, shifted to the left side of the driving lane DL, the second fixed range FM2b includes almost the entire width direction of the adjacent lane AL2 adjacent to the right side of the driving lane DL, and the second fixed range FM2a includes a range extending beyond the adjacent lane AL1 adjacent to the left side of the driving lane DL. Therefore, regardless of where the saddle-riding type vehicle 1 is traveling in the driving lane DL when the driving position DP is unknown, the second fixed ranges FM2a and FM2b can detect objects present in or approaching the periphery of the saddle-riding type vehicle 1 across the driving lane DL and the adjacent lanes AL1 and AL2. The second fixed ranges FM2a and FM2b create an unnecessary excess range that does not require detection, but by appropriately setting the width direction length of the driving lane DL, the excess range can be minimized. As a result, the saddle type vehicle 1 can improve the object detection accuracy and prevent excessive object detection even when the traveling position cannot be detected.

[0077] Fig. 10 schematically illustrates second fixed ranges FC2a and FC2b that are set as the notification detection range (an example of a predetermined range) in the process of step S17 in the process flow of "step S11 → step S12 → step S17" shown in Fig. 5. For ease of understanding, Fig. 10 also illustrates first fixed ranges FC1a and FC1b.

[0078] The processing of step S17 is performed after it is determined that a turn signal operation has been detected and the traveling position DP has not been detected. Therefore, the range setting unit 111b sets second fixed ranges FC2a and FC2b that have a range larger in the width direction of the traveling lane DL than the first fixed ranges FC1a and FC1b that may be set after a turn signal operation has been detected and the traveling position DP has been detected. The second fixed ranges FC2a and FC2b are stored in, for example, the storage unit 112. The range setting unit 111b acquires and sets the second fixed ranges FC2a and FC2b from the storage unit 112.

[0079] The second fixed ranges FC2a and FC2b have the same size as the first fixed ranges FC1a and FC1b in the direction in which the driving lane DL extends, for example. The second fixed ranges FC2a and FC2b correspond to the second fixed ranges for lane changes because they are set when the saddle-ride type vehicle 1 is traveling in a state in which the driving lane DL may change due to the detection of a turn signal operation.

[0080] The second fixed ranges FC2a and FC2b have a length in the width direction of the driving lane DL that is, for example, approximately 1.5 times the length in the width direction. As a result, as shown in FIG. 10 , when the driving position of the saddle-riding type vehicle 1 is, for example, shifted to the left side of the driving lane DL, the second fixed range FC2b includes almost the entire width direction of the adjacent lane AL2 adjacent to the right side of the driving lane DL, and the second fixed range FC2a includes a range extending beyond the adjacent lane AL1 adjacent to the left side of the driving lane DL. Therefore, regardless of where the saddle-riding type vehicle 1 is traveling in the driving lane DL when its driving position is unknown, the second fixed ranges FC2a and FC2b can detect objects present around or approaching the saddle-riding type vehicle 1 across the driving lane DL and the adjacent lanes AL1 and AL2. The second fixed ranges FC2a and FC2b create an unnecessary excess range that does not require detection, but by appropriately setting the width direction length of the driving lane DL, the excess range can be minimized. As a result, the saddle type vehicle 1 can improve the object detection accuracy and prevent excessive object detection even when the traveling position DP cannot be detected.

[0081] 2 and 6 to 10 show a state in which the saddle type vehicle 1 is traveling in the traveling lane DL while being offset to the left. When the saddle type vehicle 1 is traveling in the traveling lane DL while being offset to the right, the driving assistance device 10 sets a notification detection range that is in a state in which the notification detection range shown in Fig. 2 and 6 to 10 is mirror imaged with the imaginary center line CL as an axis of symmetry.

[0082] [2. Second Embodiment] [2-1. Configuration of saddle-ride type vehicle and driving assistance device] A saddle-ride type vehicle 1 according to the second embodiment of the present disclosure has a configuration similar to that of the saddle-ride type vehicle 1 according to the first embodiment described above. Furthermore, a driving assistance device 10 according to this embodiment has a configuration similar to that of the driving assistance device 10 according to the first embodiment described above. Hereinafter, the configurations of the saddle-ride type vehicle 1 and the driving assistance device 10 according to this embodiment will be described with reference to the saddle-ride type vehicle 1 and the driving assistance device 10 shown in FIG. 1.

[0083] [2-2. Operation of driving support device] [2-2-1. Processing flow of the driving support device] 11 and 12, the operation of the driving support device 10 according to this embodiment will be described. Fig. 11 is a flowchart showing an example of the flow of a process for notifying the detection of an object using a notification detection range, as the operation of the driving support device 10. When the driving support device 10 is powered on (i.e., when the voltage value of the power supply becomes greater than a predetermined value), the driving support device 10 starts the process shown in Fig. 11.

[0084] As shown in FIG. 11, when the driving assistance device 10 (see FIG. 1) starts operating, in step S111, the position detection unit 111a determines whether or not the driving position DP (see FIG. 2) of the saddle riding type vehicle 1 (see FIG. 1) has been detected, based on the detection result input from the surrounding environment detection unit 20 (see FIG. 1). If the position detection unit 111a determines that the driving position DP has been detected (YES in step S111), the process proceeds to step S112. On the other hand, if the position detection unit 111a determines that the driving position DP has not been detected (NO in step S111), the process proceeds to step S116. In step S111, the same process as that in step S12 in the first embodiment is executed.

[0085] In step S112, the range setting unit 111b (see FIG. 1) calculates and sets the notification detection range, and the process proceeds to step S113. The range setting unit 111b determines whether the traveling position DP is located on the left or right side of the imaginary center line CL (an example of the center) in the width direction of the traveling lane DL (see FIG. 12), and sets the notification detection range on the side where the traveling position DP is not located to be larger in the left-right direction than the notification detection range on the side where the traveling position DP is located. Furthermore, when setting the notification detection range, the range setting unit 111b checks whether or not a turn signal operation by the occupant has been detected. The range setting unit 111b sets the notification detection range so that it is longer in the extension direction of the traveling lane DL when a turn signal operation by the occupant has been detected than when the operation has not been detected.

[0086] In step S113, the object detection unit 111c (see FIG. 1) executes the same process as the process in step S14 (see FIG. 5) in the first embodiment, and then proceeds to the process in step S114 or step S115. In step S114, the BSI display device 12 (see FIG. 1) executes the same process as the process in step S15 (see FIG. 5) in the first embodiment, and then proceeds to the process in step S115. In step S115, the driving assistance device 10 executes the same process as that in step S16 (see FIG. 5) in the first embodiment, and then ends the operation or returns to the process in step S111.

[0087] In step S116, the range setting unit 111b sets the second fixed range stored in advance in the storage unit 112 (see FIG. 1) as the notification detection range, and proceeds to the processing of step S113. When setting the second fixed range as the notification detection range, the range setting unit 111b checks whether or not a turn signal operation by the occupant has been detected. If a turn signal operation by the occupant has been detected, the range setting unit 111b selects the second fixed range for lane changing, and if such operation has not been detected, the range setting unit 111b selects the second fixed range for lane keeping.

[0088] [2-2-2. Aspects of the Predetermined Range Set by the Driving Assistance Device] The aspect of the predetermined range set by the driving assistance device 10 according to this embodiment will be described using Fig. 12 with reference to Fig. 1 and Fig. 11. Fig. 12 is a schematic overhead view showing a state in which the saddle-ride type vehicle 1 is traveling on a three-lane road.

[0089] Figure 12 schematically illustrates the notification detection ranges CMb, CCb (an example of a predetermined range) and first fixed ranges FM1a, FC1a (an example of a predetermined range) set in the processing of step S112 in the processing flow of "step S111 → step S112" shown in Figure 11.

[0090] The processing of step S112 is processing performed after the traveling position DP is detected. Therefore, if detection of the operation of a turn signal is not confirmed when setting the notification detection range, the range setting unit 111b sets the notification detection range CMb (an example of a predetermined range) on the side where the traveling position DP is not present (the right side in FIG. 12) to be larger in the left-right direction (i.e., the width direction of the traveling lane DL) than the first fixed range FM1a (an example of a predetermined range) on the side where the traveling position DP is present (the left side in FIG. 12), as shown in FIG. 12. The first fixed range FM1a is set in a predetermined area from the left side to the left rear of the saddle riding type vehicle 1. The notification detection range CMb is set in a predetermined area from the right side to the right rear of the saddle riding type vehicle 1. The first fixed range FM1a and the notification detection range CMb have approximately the same length in the extension direction of the traveling lane DL.

[0091] Furthermore, if detection of a turn signal operation is confirmed when setting the notification detection range, the range setting unit 111b sets a notification detection range CCb (an example of a predetermined range) on the side where the traveling position DP is not present (the right side in FIG. 12) to be larger in the left-right direction (i.e., the width direction of the traveling lane DL) than a first fixed range FC1a (an example of a predetermined range) on the side where the traveling position DP is present (the left side in FIG. 12). The first fixed range FC1a is set in a predetermined area from the left side to the left rear of the rear of the saddle type vehicle 1. The notification detection range CCb is set in a predetermined area from the right side to the right rear of the rear of the saddle type vehicle 1. The first fixed range FC1a and the notification detection range CCb have approximately the same length in the extension direction of the traveling lane DL.

[0092] The first fixed range FC1a, which is set when detection of a turn signal operation is confirmed, has a longer length in the extending direction of the driving lane DL than the first fixed range FM1a, which is set when detection of a turn signal operation is not confirmed. The notification detection range CCb, which is set when detection of a turn signal operation is confirmed, has a longer length in the extending direction of the driving lane DL than the notification detection range CMb, which is set when detection of a turn signal operation is not confirmed. In this way, the saddle-ride type vehicle 1 sets the notification detection range to include a wider area around the vehicle when a turn signal operation is detected than when the turn signal operation is not detected. This allows the present embodiment to also quickly detect objects present or approaching in a direction in which the saddle-ride type vehicle 1 may move to change lanes.

[0093] In the processing of step S116 in the processing flow of "step S111 → step S116" shown in Fig. 11, if the range setting unit 111b cannot confirm detection of the operation of a turn signal, it sets the second fixed ranges FM2a and FM2b for lane change shown in Fig. 9 as the notification detection range. On the other hand, in the processing of step S116 shown in Fig. 11, if the range setting unit 111b can confirm detection of the operation of a turn signal, it sets the second fixed ranges FC2a and FC2b for lane change shown in Fig. 10 as the notification detection range. Therefore, the driving assistance device 10 according to this embodiment can obtain the same functions and effects as the driving assistance device 10 according to the first embodiment when the driving position of the saddle riding type vehicle 1 cannot be detected.

[0094] 3. Other Embodiments In the first embodiment, first fixed ranges FM1a and FM1b of the same size are set as the notification detection ranges in step S19. However, the first fixed range on the side farther from the traveling position DP (first fixed range FM1b in FIG. 6) may be set to be larger in the width direction of the traveling lane DL than the side closer to the traveling position DP (first fixed range FM1a in FIG. 6).

[0095] In the first and second embodiments described above, the notification detection range is set to an area extending from the side to the rear of the saddle-ride type vehicle 1, but it may also be set to an area extending from the side to the front of the saddle-ride type vehicle 1. In this case, the saddle-ride type vehicle 1 can notify the occupant of the presence of an object approaching from the front of the vehicle.

[0096] The notification detection range may be set to both an area extending from the side of the saddle-ride type vehicle 1 toward the rear and an area extending from the side of the saddle-ride type vehicle 1 toward the front. In this case, the saddle-ride type vehicle 1 can notify the occupant of the presence of an object approaching from the front and the rear of the vehicle.

[0097] In the first and second embodiments described above, the saddle-ride type vehicle 1 is configured to notify the detection of an object by the BSI display device 12, but the detection of an object may also be notified by sound in addition to the BSI display device 12. In this case, the saddle-ride type vehicle 1 may notify the detection of an object only by the BSI display device 12 when it is desired to call for normal caution when the turn signal is not operated, and may notify the detection of an object by both the BSI display device 12 and sound when it is desired to call for greater caution than usual when the turn signal is operated.

[0098] In the first and second embodiments, when the range setting unit 111b sets the notification detection ranges CCa and CCb according to the degree of offset in the left or right direction of the traveling position DP in the traveling lane DL, the range setting unit 111b calculates the degree of offset based on the distance R1 from the imaginary center line CL. However, the range setting unit 111b may also calculate the degree of offset based on the distance from the white line WL2 or the white line WL3.

[0099] In the first and second embodiments, the surrounding environment detection unit 20, the on-board sensor 30, and the operation unit 40 are connected to one ECU 11, but the surrounding environment detection unit 20, the on-board sensor 30, and the operation unit 40 may each have a control unit. For example, a vehicle surroundings monitoring sensor and a control microcomputer may be included in one component (e.g., a camera unit).

[0100] 4. Configurations supported by the above embodiments The above embodiment is a specific example of the following configuration.

[0101] (Configuration 1) A driving assistance device comprising: a position detection unit that detects the driving position of the host vehicle within the driving lane in which the host vehicle is traveling; a range setting unit that sets a predetermined range around the host vehicle based on the detection result of the position detection unit; an object detection unit that detects whether an object is present within the predetermined range; and an alarm unit that notifies an occupant of the host vehicle that the object has been detected by the object detection unit. According to this driving assistance device, the object detection range, which is the notification detection range, is set based on the driving position in the driving lane, thereby improving the accuracy of object detection regardless of the driving position and suppressing excessive detection of objects.

[0102] (Configuration 2) The driving assistance device described in Configuration 1, characterized in that the range setting unit determines whether the driving position is on the left or right side of the center in the width direction of the driving lane, and sets the specified range on the side where the driving position is not present to be larger in the left-right direction than the specified range on the side where the driving position is present. This driving support device can correctly detect the presence or absence of an object around the vehicle even when the vehicle is driving to the left or right of the lane. Furthermore, the driving support device of configuration 2 can suppress excessive reporting because the detection range on the side where the vehicle is driving to the left or right of the lane is smaller than the detection range on the side where the vehicle is not driving to the left or right.

[0103] (Configuration 3) The driving assistance device according to Configuration 2, wherein the range setting unit sets the predetermined range according to the degree of deviation in the left or right direction of the driving position in the driving lane. According to this driving assistance device, the notification detection range is set in accordance with the deviation distance from the center line, so that the notification detection range is set appropriately.

[0104] (Configuration 4) The driving assistance device according to any one of configurations 1 to 3, wherein the range setting unit sets the predetermined range across the driving lane and the adjacent lane so as to include an area beyond the center in the width direction of the adjacent lane adjacent to the driving lane. According to this driving support device, the notification detection range includes lanes adjacent to the driving lane, so that objects can be detected with high accuracy regardless of the driving position.

[0105] (Configuration 5) The driving assistance device described in any one of configurations 1 to 4, characterized in that the range setting unit is capable of selecting a calculation setting mode in which the predetermined range is calculated and set, and a fixed setting mode in which the predetermined range is set to a fixed range, and selects the calculation setting mode when operation of a turn signal by the occupant is detected, and selects the fixed setting mode when operation of the turn signal is not detected. According to this driving assistance device, the notification detection range is switched when a lane change is detected by operating the turn signal switch, thereby preventing excessive notifications during normal driving when a lane change is not detected.

[0106] (Configuration 6) The driving assistance device according to Configuration 5, wherein in the fixed setting mode, the range setting unit sets the fixed range as the predetermined range, which has a larger range when the position detection unit is unable to detect the driving position than when the position detection unit is able to detect the driving position. According to this driving support device, even when the driving position within the driving lane cannot be detected, a wider range than usual is set, thereby improving detection accuracy and safety.

[0107] (Configuration 7) The driving assistance device according to Configuration 5 or 6, wherein the range setting unit switches from the calculation setting mode to the fixed setting mode when the position detection unit is unable to detect the driving position even when the calculation setting mode is selected. According to this driving assistance device, even when a lane change is detected by operating a turn signal switch, a wider range than usual is set, thereby improving detection accuracy and safety.

[0108] (Configuration 8) A saddle-type vehicle comprising: a driving assistance device according to any one of configurations 1 to 7; an ambient environment detection unit that detects the ambient environment of the vehicle; an operation unit that operates the turn signal; and an operation detection unit that is provided in the driving assistance device and detects operation of the operation unit by the occupant. According to this saddle-ride type vehicle, the same effects as those of the driving assistance devices of the configurations 1 to 7 can be obtained. [Explanation of symbols]

[0109] 1,1X...saddle-ride type vehicle, 10...driving assistance device, 11...ECU, 12...BSI display device, 20...surrounding environment detection unit, 30...vehicle-mounted sensor, 40...operation unit, 111...control unit, 111a...position detection unit, 111b...range setting unit, 111c...object detection unit, 111d...operation detection unit, 112...storage unit, 201...vehicle front monitoring sensor, 202...vehicle surroundings monitoring sensor, 203...GPS receiver, AL1, AL2...adjacent vehicles Line, CCa, CCb, DCa, DCb, DMa, DMb, DRa, DRb...alarm detection range, CL, CLa...virtual center line, DL...driving lane, DP...driving position, FC1a, FC1b, FM1a, FM1b...first fixed range, FC2a, FC2b, FM2a, FM2b...second fixed range, FDR...detection range, NDR...non-detection range, OR...excessive detection range, R1...distance, WL1, WL2, WL3, WL4...white line

Claims

1. a position detection unit (111a) for detecting a traveling position (DP) of the vehicle (1) in a traveling lane (DL) in which the vehicle (1) is traveling; a range setting unit (111b) that sets a predetermined range (DMa, DMb, DCa, DCb) around the vehicle (1) based on the detection result of the position detection unit (111a); an object detection unit (111c) that detects whether or not an object exists within the predetermined range (DMa, DMb, DCa, DCb); a notification unit (12) that notifies an occupant of the vehicle (1) that the object has been detected by the object detection unit (111c); Equipped with the range setting unit (111b) is capable of selecting a calculation setting mode in which the predetermined range (CCa, CCb) is calculated and set, and a fixed setting mode in which the predetermined range (FM1a, FM1b) is set as a fixed range, When an operation of a turn signal by the occupant is detected, the calculation setting mode is selected, and when an operation of the turn signal by the occupant is not detected, the fixed setting mode is selected. The range setting unit (111b) sets the predetermined range (CCa, CCb) set in the calculation setting mode to have a longer length in the extension direction of the driving lane DL than the predetermined range (FM1a, FM1b) set in the fixed setting mode.

2. The range setting unit (111b) determines whether the traveling position (DP) is located on the left or right side of the center (CL) in the width direction of the traveling lane (DL), and sets the predetermined range (CCb) on the side where the traveling position (DP) is not located larger in the left-right direction than the predetermined range (FC1a) on the side where the traveling position (DP) is located.

2. The driving support device according to claim 1,

3. The range setting unit (111b) sets the predetermined ranges (CCa, CCb) according to the degree (R1) of deviation in the left / right direction of the traveling position (DP) in the traveling lane (DL).

3. The driving support device according to claim 2, wherein:

4. The range setting unit (111b) sets the predetermined range (CCb) across the driving lane (DL) and the adjacent lane (AL2) so as to include an area beyond the center (CLa) in the width direction of the adjacent lane (AL2) adjacent to the driving lane (DL).

2. The driving support device according to claim 1,

5. In the fixed setting mode, the range setting unit (111b) sets the fixed ranges (FM2a, FM2b, FC2a, FC2b) as the predetermined ranges, the fixed ranges (FM2a, FM2b, FC2a, FC2b) having a larger range when the position detection unit (111a) cannot detect the traveling position (DP) than when the position detection unit (111a) can detect the traveling position (DP).

2. The driving support device according to claim 1,

6. The range setting unit (111b) switches from the calculation setting mode to the fixed setting mode when the position detection unit (111a) cannot detect the traveling position (DP) even when the calculation setting mode is selected. The driving assistance device according to claim 1 .

7. A driving assistance device (10) according to any one of claims 1 to 6; a surrounding environment detection unit (20) that detects the surrounding environment of the vehicle (1); An operation unit (40) for operating a turn signal; an operation detection unit (111d) provided in the driving assistance device (10) and configured to detect an operation of the operation unit (40) by the occupant; A saddle-type vehicle equipped with a

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