Control device and control method

Abstract

The present invention pertains to a controller and control method which make it possible to appropriately execute speed control based on positional relationship information between a leaning vehicle and a target vehicle. A controller (20) and a control method according to the present invention, wherein: an execution unit of the controller (20) executes a speed control for controlling the speed of a leaning vehicle (1) on the basis of positional relationship information between the leaning vehicle (1) and a target vehicle; and an identification unit of the controller (20) executes identification processing for identifying the target vehicle on the basis of detection results from a peripheral environment sensor (14) installed in the leaning vehicle (1), and changes the identification processing on the basis of the speed information about the leaning vehicle (1).

Description

Technical Field

[0001] This disclosure relates to a control device and a control method capable of appropriately executing speed control based on the positional relationship information between a lean vehicle and a target vehicle.

Background Art

[0002] As a conventional technique related to lean vehicles such as motorcycles, there is a technique for assisting a rider's driving. For example, in Patent Document 1, a driver assistance system is disclosed that warns a motorcycle rider of inappropriate approach to an obstacle based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a technique for assisting driving, there is speed control for controlling the speed of a lean vehicle based on the positional relationship information between the lean vehicle and a target vehicle. Such speed control includes, for example, adaptive cruise control. In adaptive cruise control, the speed of the lean vehicle is controlled so that the inter-vehicle distance between the lean vehicle and the target vehicle is secured at a safe distance. The target vehicle is specified, for example, based on the detection result of a surrounding environment sensor mounted on the lean vehicle.

[0005] In this context, the posture of a leaning vehicle is more prone to instability compared to that of a four-wheeled vehicle. Specifically, a leaning vehicle cannot stand upright when stationary, and becomes more likely to tip over at low speeds. Therefore, when driving at low speeds, the rider may make small, rapid left-to-right movements with the handlebars to maintain balance. Such handlebar movements can cause, for example, fluctuations in the orientation of the surrounding environment sensors, making it difficult to properly identify the target vehicle. This, in turn, makes it difficult to properly control the speed.

[0006] The present invention was made against the background of the above-mentioned problems, and aims to provide a control device and control method that can appropriately perform speed control based on positional relationship information between a lean vehicle and a target vehicle. [Means for solving the problem]

[0007] The control device according to the present invention is a control device for controlling the behavior of a lean vehicle, comprising: an execution unit that performs speed control to control the speed of the lean vehicle based on positional relationship information between the lean vehicle and a target vehicle; and an identification unit that performs identification processing to identify the target vehicle based on the detection results of ambient environment sensors mounted on the lean vehicle, wherein the identification unit changes the identification processing based on the speed information of the lean vehicle.

[0008] The control method according to the present invention is a control method for controlling the behavior of a lean vehicle, wherein the execution unit of the control device performs speed control to control the speed of the lean vehicle based on positional relationship information between the lean vehicle and a target vehicle, the identification unit of the control device performs identification processing to identify the target vehicle based on the detection results of ambient environment sensors mounted on the lean vehicle, and the identification unit changes the identification processing based on the speed information of the lean vehicle. [Effects of the Invention]

[0009] In the control device and control method according to the present invention, the execution unit of the control device performs speed control to control the speed of the leaning vehicle based on positional relationship information between the leaning vehicle and the target vehicle, the identification unit of the control device performs identification processing to identify the target vehicle based on the detection results of the ambient environment sensor mounted on the leaning vehicle, and the identification unit changes the identification processing based on the speed information of the leaning vehicle. As a result, the target vehicle can be appropriately identified even when the rider performs steering operations to balance the leaning vehicle. Therefore, speed control based on positional relationship information between the leaning vehicle and the target vehicle can be appropriately performed. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing the general configuration of a lean vehicle according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. [Figure 3] This flowchart shows an example of the flow of the first process performed by the control device according to an embodiment of the present invention. [Figure 4] This figure shows a situation where a preceding vehicle is located outside the detection range of the ambient environment sensor of a lean vehicle according to an embodiment of the present invention. [Figure 5] This flowchart shows an example of the flow of the second process performed by the control device according to an embodiment of the present invention. [Figure 6] This figure shows how the detection range of the ambient environment sensor in a lean vehicle according to an embodiment of the present invention has been extended. [Figure 7] This flowchart shows an example of the flow of the third process performed by the control device according to an embodiment of the present invention. [Figure 8] This figure shows how fluctuations in the predicted driving trajectory in the vehicle width direction of a lean vehicle according to an embodiment of the present invention are suppressed. [Modes for carrying out the invention]

[0011] The control device and control method according to the present invention will be described below with reference to the drawings.

[0012] Although the following description refers to a control device used in a two-wheeled motorcycle (see Lean Vehicle 1 in Figure 1), the vehicle controlled by the control device according to the present invention may be any lean vehicle, and may be other lean vehicles besides two-wheeled motorcycles. A lean vehicle is a vehicle in which the body leans to the right when turning to the right and to the left when turning to the left. Examples of lean vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, etc. Motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle is a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include electric assist bicycles, electric bicycles, etc.

[0013] Furthermore, the following description assumes that an engine (specifically, engine 11 in Figure 1, which will be described later) is installed as a drive source capable of outputting power to drive the wheels. However, other drive sources (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed.

[0014] Furthermore, the configurations and operations described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

[0015] Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. Also, in each figure, identical or similar components or parts have either had their reference numerals omitted or the same reference numerals have been used. In addition, detailed structures have been simplified or omitted as appropriate.

[0016] <Structure of a lean vehicle> Referring to FIGS. 1 and 2, the configuration of the lean vehicle 1 according to an embodiment of the present invention will be described.

[0017] FIG. 1 is a schematic diagram showing a schematic configuration of the lean vehicle 1. FIG. 2 is a block diagram showing an example of a functional configuration of the control device 20.

[0018] The lean vehicle 1 is a two-wheeled motorcycle corresponding to an example of the lean vehicle according to the present invention. As shown in FIG. 1, the lean vehicle 1 includes a front wheel 2, a rear wheel 3, a handle 4, an engine 11, a hydraulic control unit 12, an input device 13, a surrounding environment sensor 14, an inertial measurement unit (IMU) 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, and a control device (ECU) 20.

[0019] The engine 11 corresponds to an example of a drive source of the lean vehicle 1 and can output power for driving the wheels. For example, the engine 11 is provided with one or a plurality of cylinders in which combustion chambers are formed, a fuel injection valve for injecting fuel toward the combustion chamber, and a spark plug. By injecting fuel from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chamber, and the air-fuel mixture is ignited by the spark plug and burns. Thereby, the piston provided in the cylinder reciprocates, and the crankshaft rotates. Further, a throttle valve is provided in the intake pipe of the engine 11, and the intake air amount into the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve.

[0020] The hydraulic control unit 12 is a unit responsible for controlling the braking force generated in the wheels. For example, the hydraulic control unit 12 is installed in the oil passage connecting the master cylinder and the wheel cylinder and includes components (e.g., a control valve and a pump) for controlling the brake fluid pressure of the wheel cylinder. The braking force generated in the wheels is controlled by controlling the operation of the components of the hydraulic control unit 12. The hydraulic control unit 12 may control the braking force generated in both the front wheels 2 and the rear wheels 3, or it may control the braking force generated in only one of the front wheels 2 or the rear wheels 3.

[0021] The input device 13 receives various operations from the rider. The input device 13 includes, for example, a push button provided on the handle 4 and used for operating the rider. Information regarding the rider's operations using the input device 13 is output to the control device 20.

[0022] The ambient environment sensor 14 detects ambient environment information regarding the environment surrounding the lean vehicle 1. For example, the ambient environment sensor 14 is located at the front of the lean vehicle 1 and detects ambient environment information in front of the lean vehicle 1. The ambient environment information detected by the ambient environment sensor 14 is output to the control device 20.

[0023] The ambient environment information detected by the ambient environment sensor 14 may be information related to the distance or direction to the subject located around the lean vehicle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be the characteristics of the subject located around the lean vehicle 1 (e.g., type of subject, shape of the subject itself, marks attached to the subject, etc.). The ambient environment sensor 14 may be, for example, a radar, Lidar sensor, ultrasonic sensor, camera, etc.

[0024] The inertial measurement device 15 includes a 3-axis gyro sensor and a 3-directional acceleration sensor to detect the attitude of the lean vehicle 1. The inertial measurement device 15 is installed, for example, on the body of the lean vehicle 1. For example, the inertial measurement device 15 detects the lean angle of the lean vehicle 1 and outputs the detection result. The inertial measurement device 15 may also detect other physical quantities that are substantially convertible to the lean angle of the lean vehicle 1. The lean angle corresponds to the angle representing the inclination of the body (specifically, the fuselage) of the lean vehicle 1 in the roll direction relative to the vertically upward direction. The inertial measurement device 15 may include only a portion of the 3-axis gyro sensor and the 3-directional acceleration sensor.

[0025] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the front wheel 2, etc.) and outputs the detection result. The front wheel speed sensor 16 may also detect other physical quantities that can be substantially converted to the wheel speed of the front wheel 2. The front wheel speed sensor 16 is installed on the front wheel 2.

[0026] The rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the rear wheel 3, etc.) and outputs the detection result. The rear wheel speed sensor 17 may also detect other physical quantities that can be substantially converted to the wheel speed of the rear wheel 3. The rear wheel speed sensor 17 is installed on the rear wheel 3.

[0027] The control device 20 controls the behavior of the lean vehicle 1. For example, part or all of the control device 20 is composed of a microcontroller, microprocessor unit, etc. Alternatively, part or all of the control device 20 may be composed of updatable components such as firmware, or it may be a program module executed by commands from a CPU, etc. The control device 20 may be a single unit, or it may be divided into multiple units.

[0028] As shown in Figure 2, the control device 20 includes, for example, an acquisition unit 21, an execution unit 22, and a specification unit 23. The control device 20 also communicates with each device of the lean vehicle 1.

[0029] The acquisition unit 21 acquires information from each device of the lean vehicle 1 and outputs it to the execution unit 22 and the identification unit 23. For example, the acquisition unit 21 acquires information from the input device 13, the ambient environment sensor 14, the inertial measurement device 15, the front wheel speed sensor 16, and the rear wheel speed sensor 17. In this specification, information acquisition may include information extraction or generation.

[0030] The execution unit 22 performs various controls by controlling the operation of each device of the lean vehicle 1. For example, the execution unit 22 controls the operation of the engine 11 and the hydraulic control unit 12. Here, the execution unit 22 can perform adaptive cruise control as speed control based on positional relationship information between the lean vehicle 1 and the target vehicle. The positional relationship information may include, for example, information such as the relative position, relative distance, relative speed, relative acceleration, relative jerk, or difference in travel time of the lean vehicle 1 with respect to the target vehicle. The positional relationship information may also be information of other physical quantities that can be substantially converted into this information.

[0031] The following describes an example in which adaptive cruise control is implemented as speed control based on the positional relationship information between lean vehicle 1 and the target vehicle. However, the speed control only needs to be based on the positional relationship information between lean vehicle 1 and the target vehicle, and may be a control other than adaptive cruise control.

[0032] The execution unit 22 performs adaptive cruise control in response to operations by the rider using the input device 13, for example. In adaptive cruise control, the execution unit 22 automatically controls the speed of the lean vehicle 1 without relying on acceleration and deceleration operations (i.e., accelerator and brake operations) by the rider. The execution unit 22 can control the speed of the lean vehicle 1 based on information about the speed of the lean vehicle 1 obtained based on the wheel speed of the front wheel 2 and the wheel speed of the rear wheel 3, for example.

[0033] In adaptive cruise control, the execution unit 22 performs distance maintenance control to maintain the distance between the leaning vehicle 1 and the target vehicle at a target distance. The execution unit 22 performs distance maintenance control based on ambient environment information detected by the ambient environment sensor 14. The ambient environment sensor 14 can detect the distance between the leaning vehicle 1 and the preceding vehicle traveling in front of the leaning vehicle 1, and the relative speed of the leaning vehicle 1 with respect to the preceding vehicle. For example, in distance maintenance control, the execution unit 22 sets the preceding vehicle as the target vehicle and controls the speed of the leaning vehicle 1 so that the distance between it and the preceding vehicle is maintained at the target distance. Note that the distance between vehicles may mean the distance in the direction along the lane (specifically, the driving lane of the leaning vehicle 1), or it may mean the straight-line distance.

[0034] The identification unit 23 performs a identification process to identify a target vehicle based on the detection results of the ambient environment sensor 14 mounted on the lean vehicle 1. The detection range of the ambient environment sensor 14 extends from the front of the lean vehicle 1 forward. The ambient environment sensor 14 can detect ambient environment information within its detection range. In the identification process, the identification unit 23 can identify a vehicle that is within the detection range of the ambient environment sensor 14 as a target vehicle. Based on the target vehicle identified by the identification process, the execution unit 22 performs adaptive cruise control.

[0035] Here, the ambient environment sensor 14 rotates integrally with the handlebars 4 of the lean vehicle 1. When the lean vehicle 1 is traveling at a low speed, the rider may move the handlebars 4 from side to side in small increments to maintain balance. When such handlebar movement occurs, the orientation of the ambient environment sensor 14 changes in sync with the handlebars 4, and the detection range of the ambient environment sensor 14 shifts from side to side. As a result, it becomes difficult to properly identify the target vehicle, and thus difficult to properly execute speed control. In this embodiment, as will be described later, improvements are made to the target vehicle identification process, thereby enabling proper identification of the target vehicle and proper execution of speed control.

[0036] <Operation of the control device> The operation of the control device 20 according to an embodiment of the present invention will be described with reference to Figures 3 to 8.

[0037] As described above, the identification unit 23 of the control device 20 performs an identification process to identify the target vehicle. Below, the first process, the second process, and the third process will be described in order as examples of the identification process performed by the control device 20 (specifically, the identification unit 23).

[0038] In the following, low-speed driving, where lean vehicle 1 travels at a speed lower than the reference speed, will also be simply referred to as low-speed driving. The reference speed is, for example, a speed low enough that the rider needs to make small, rapid left-to-right movements with the handlebars 4 in order to maintain the balance of lean vehicle 1.

[0039] Figure 3 is a flowchart showing an example of the flow of the first processing performed by the control device 20. Step S101 in Figure 3 corresponds to the start of the control flow shown in Figure 3.

[0040] When the control flow shown in Figure 3 is initiated, in step S102, the identification unit 23 determines the predicted driving trajectory of the lean vehicle 1 (see predicted driving trajectory 40 in Figure 4, described later).

[0041] The predicted driving trajectory determined in step S102 is the trajectory that the lean vehicle 1 is expected to take in the future. In step S102, the identification unit 23 determines the predicted driving trajectory based on, for example, the lean angle of the lean vehicle 1 and the steering angle of the steering wheel 4.

[0042] Following step S102, in step S103, the identification unit 23 determines the detection range of the ambient environment sensor 14 used for the identification process (see detection range 50 in Figure 4, described later).

[0043] The detection range determined in step S103 is the detection range that is effective for the specific process within the entire detection range detectable by the ambient environment sensor 14. In step S103, the identification unit 23 determines the detection range of the ambient environment sensor 14 used for the specific process based on the expected driving trajectory of the lean vehicle 1. For example, the identification unit 23 determines a range having a predetermined width (see the first width D1 in Figure 4, described later) centered on the expected driving trajectory as the detection range of the ambient environment sensor 14 used for the specific process.

[0044] Following step S103, in step S104, the identification unit 23 identifies a vehicle detected by the surrounding environment sensor 14 as a target vehicle. Specifically, the identification unit 23 identifies a vehicle located within the detection range determined in step S103 as a target vehicle.

[0045] Following step S104, in step S105, the identification unit 23 determines whether the speed information of the lean vehicle 1 indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to travel at a low speed.

[0046] The speed information described above pertains to the speed of lean vehicle 1, and various types of information can be used for this speed information.

[0047] For example, speed information is information indicating the speed of lean vehicle 1. Information indicating the speed of lean vehicle 1 can be obtained, for example, based on the output results of the front wheel speed sensor 16 and the rear wheel speed sensor 17. For example, if the speed of lean vehicle 1 is lower than the reference speed, the identification unit 23 determines that the speed information indicates that lean vehicle 1 is traveling at a low speed. Also, for example, if the speed of lean vehicle 1 is gradually decreasing and is expected to fall below the reference speed, the identification unit 23 determines that the speed information indicates that lean vehicle 1 is in the process of changing to low-speed travel.

[0048] Furthermore, for example, the speed information is information indicating the deceleration of lean vehicle 1. Information indicating the deceleration of lean vehicle 1 can be obtained based on the change in the speed of lean vehicle 1. For example, if the speed of lean vehicle 1 is higher than the reference speed, but lean vehicle 1 is decelerating and the deceleration of lean vehicle 1 is greater than the reference deceleration, the specific unit 23 determines that the speed information is information indicating that lean vehicle 1 is in the process of changing to low-speed driving.

[0049] Furthermore, for example, speed information is information related to the brake operation performed by the rider of lean vehicle 1. Examples of information related to brake operation include information indicating the amount of brake operation, or information indicating the master cylinder pressure. For example, if the speed of lean vehicle 1 is higher than the reference speed, but brake operation is being performed and the amount of brake operation is greater than the reference amount, or the master cylinder pressure is higher than the reference pressure, the specific unit 23 determines that the speed information is information indicating that lean vehicle 1 is in the process of changing to low-speed driving.

[0050] If, in step S105, it is determined that the speed information does not indicate that lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed (step S105 / NO), the process returns to step S102. On the other hand, if, in step S105, it is determined that the speed information indicates that lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed (step S105 / YES), step S105 is repeated.

[0051] As long as the result in step S105 remains YES, step S105 is repeated, and the processes in steps S102 to S104 are not performed. In other words, if lean vehicle 1 is traveling at a low speed, or is in the process of changing to traveling at a low speed, changing the target vehicle is prohibited.

[0052] Figure 4 shows a situation where the preceding vehicle 30 is located outside the detection range 50 of the surrounding environment sensor 14 of the lean vehicle 1. In the example in Figure 4, the lean vehicle 1 and the preceding vehicle 30 are traveling side by side in the same lane. The preceding vehicle 30 is located in front of the lean vehicle 1. In the example in Figure 4, the preceding vehicle 30 is a four-wheeled automobile. However, the preceding vehicle 30 may be a vehicle other than a four-wheeled automobile (for example, a saddle-type vehicle).

[0053] In the example shown in Figure 4, as the leaning vehicle 1 begins to travel at a low speed, the rider performs steering maneuvers to maintain balance, resulting in the handlebars 4 being turned to the left. As a result, a trajectory that curves to the left is determined as the predicted driving trajectory 40. The area with a first width D1 centered on the predicted driving trajectory is then determined as the detection range 50 of the ambient environment sensor 14 used for specific processing. Consequently, the preceding vehicle 30 is located outside the detection range 50 of the ambient environment sensor 14.

[0054] Before lean vehicle 1 began low-speed driving, the preceding vehicle 30 was within the detection range 50 of the surrounding environment sensor 14, and the preceding vehicle 30 was identified as the target vehicle. In this situation, the first process described above prohibits changing the target vehicle as lean vehicle 1 begins low-speed driving. Therefore, as shown in Figure 4, even if the preceding vehicle 30 moves out of the detection range 50, the preceding vehicle 30 is maintained as the target vehicle.

[0055] As described above, in the first process explained with reference to Figures 3 and 4, the identification unit 23 determines whether or not to change the target vehicle according to the speed information. Specifically, if the speed information indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed, the identification unit 23 prohibits changing the target vehicle. This prevents the loss of the target vehicle when the target vehicle moves out of the detection range 50 of the surrounding environment sensor 14 due to steering maneuvers performed by the rider to balance the lean vehicle 1. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0056] However, when the identification unit 23 decides whether or not to change the target vehicle according to the speed information, it may perform a different process from the first process described above. For example, if there is a condition prohibiting the change of the target vehicle based on information other than speed information, the identification unit 23 may set the above prohibition condition to a condition that makes it more likely to prohibit the change of the target vehicle when the speed information indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed, compared to when the speed information does not indicate that the lean vehicle 1 is traveling at a low speed or is in the process of changing to traveling at a low speed.

[0057] Furthermore, in the first process described above, if, after prohibiting the change of target vehicle, the speed information is determined not to indicate that lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed, the function prohibiting the change of target vehicle is released. However, the conditions for releasing the function prohibiting the change of target vehicle may be other than the examples above. For example, the condition that a specific operation using the input device 13, etc., has been performed by the LiDAR may be used as the condition for releasing the function prohibiting the change of target vehicle. Alternatively, for example, the condition that lean vehicle 1 has been determined to be traveling around a curve may be used as the condition for releasing the function prohibiting the change of target vehicle. The identification unit 23 can determine whether lean vehicle 1 is traveling around a curve based, for example, on the lean angle of lean vehicle 1, the degree of change in the lean angle, or the yaw rate of lean vehicle 1.

[0058] Figure 5 is a flowchart showing an example of the flow of the second processing performed by the control device 20. Step S201 in Figure 5 corresponds to the start of the control flow shown in Figure 5.

[0059] When the control flow shown in Figure 5 is initiated, in step S202, the identification unit 23 determines the predicted trajectory 40 of the lean vehicle 1. The process in step S202 is the same as the process in step S102 in Figure 3.

[0060] Following step S202, in step S203, the identification unit 23 determines whether the speed information of the lean vehicle 1 indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to travel at a low speed. The processing in step S203 is the same as the processing in step S105 in Figure 3.

[0061] In step S203, if it is determined that the speed information does not indicate that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed travel (step S203 / NO), the process proceeds to step S204. In step S204, the identification unit 23 determines the detection range 50 by setting the width of the detection range 50 of the ambient environment sensor 14 used for identification processing to a first width D1. Specifically, the identification unit 23 determines the detection range 50 to be an area having a first width D1 centered on the predicted travel trajectory 40.

[0062] On the other hand, if in step S203 it is determined that the speed information indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed travel (step S203 / YES), the process proceeds to step S205. In step S205, the identification unit 23 determines the detection range 50 by setting the width of the detection range 50 of the ambient environment sensor 14 used for identification processing to a second width (see the second width D2 in Figure 6, which will be described later). The second width D2 is wider than the first width D1. Specifically, the identification unit 23 determines the detection range 50 to be an area having a second width D2 centered on the predicted travel trajectory 40.

[0063] Figure 6 shows how the detection range 50 of the surrounding environment sensor 14 of the lean vehicle 1 is expanded. In the example of Figure 6, similar to the example of Figure 4, a preceding vehicle 30 is traveling in front of the lean vehicle 1 in the same lane. In the example of Figure 4, as the lean vehicle 1 began to travel at a low speed, the preceding vehicle 30 moved out of the detection range 50. On the other hand, in the second process described above, as the lean vehicle 1 began to travel at a low speed, the detection range 50 is expanded as shown in Figure 6. As a result, the preceding vehicle 30 does not move out of the detection range 50, and the situation in which the preceding vehicle 30 is located within the detection range 50 is maintained.

[0064] In the example shown in Figure 6, when the detection range 50 is expanded, the specific unit 23 expands the detection range 50 symmetrically on both sides with respect to the predicted driving trajectory 40. However, when the specific unit 23 expands the detection range 50, it may expand the detection range 50 only on one side with respect to the predicted driving trajectory 40. For example, the specific unit 23 may expand the detection range 50 only in the opposite direction (to the right in the example shown in Figure 6) to the direction in which the predicted driving trajectory 40 curves relative to the body of the lean vehicle 1 (to the left in the example shown in Figure 6).

[0065] Following step S204 or step S205 in Figure 5, in step S206, the identification unit 23 identifies the vehicle detected by the ambient environment sensor 14 as the target vehicle, and returns to step S202. The process in step S206 is the same as the process in step S104 in Figure 3.

[0066] As described above, in the second process explained with reference to Figures 5 and 6, the identification unit 23 changes the detection range 50 of the ambient environment sensor 14 used in the identification process based on speed information. Specifically, when the speed information indicates that the lean vehicle 1 is traveling at a low speed, or is in the process of changing to low speed, the identification unit 23 expands the detection range 50 compared to when the speed information does not indicate that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed. As a result, even if the rider performs steering maneuvers to balance the lean vehicle 1, the target vehicle will not move out of the detection range 50, and the situation in which the target vehicle is located within the detection range 50 will be maintained. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0067] However, when the specific unit 23 changes the detection range 50 of the ambient environment sensor 14 based on speed information, it may perform a process different from the second process described above. For example, the specific unit 23 may gradually expand the detection range 50 of the ambient environment sensor 14 as the speed of the lean vehicle 1 decreases. Alternatively, for example, the specific unit 23 may change the shape, extension direction, or relative position of the detection range 50 of the ambient environment sensor 14 with respect to the lean vehicle 1 based on speed information.

[0068] Furthermore, in the second process described above, if, after the detection range 50 has been expanded, it is determined that the speed information does not indicate that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed, the function to expand the detection range 50 is deactivated. However, the conditions for deactivating the function to expand the detection range 50 may be other than the examples above. For example, as a condition for deactivating the function to expand the detection range 50, a condition such as a specific operation using the input device 13, etc., being performed by the LiDAR, or a condition that the lean vehicle 1 is determined to be traveling around a curve, may be used, similar to the conditions for deactivating the function that prohibits changing the target vehicle.

[0069] Figure 7 is a flowchart showing an example of the flow of the third process performed by the control device 20. Step S301 in Figure 7 corresponds to the start of the control flow shown in Figure 7.

[0070] When the control flow shown in Figure 7 is initiated, in step S302, the identification unit 23 determines the predicted driving trajectory 40 of the lean vehicle 1. The process in step S302 is the same as the process in step S102 in Figure 3.

[0071] Following step S302, in step S303, the identification unit 23 determines whether the speed information of the lean vehicle 1 indicates that the lean vehicle 1 is traveling at a low speed or is in the process of changing to travel at a low speed. The processing in step S303 is the same as the processing in step S105 in Figure 3.

[0072] If, in step S303, it is determined that the speed information indicates that lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed (step S303 / YES), the process proceeds to step S304. On the other hand, if, in step S303, it is determined that the speed information does not indicate that lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed (step S303 / NO), step S304 is not performed and the process proceeds to step S305.

[0073] In step S304, the specific unit 23 performs a fluctuation suppression process to suppress fluctuations in the predicted driving trajectory 40 of the lean vehicle 1 in the vehicle width direction.

[0074] As described above, the steering operation performed by the rider to balance the leaning vehicle 1 is to move the handlebars 4 from side to side in small increments. Therefore, when such steering operations are performed, the predicted driving trajectory 40 determined in step S302 fluctuates in the width direction of the leaning vehicle 1. Specifically, the direction in which the predicted driving trajectory 40 curves fluctuates from side to side within a range of variation in the width direction (for example, the width D3 in Figure 8, which will be described later).

[0075] For example, in the fluctuation suppression process, the specific unit 23 applies a low-pass filter to the data showing the progression of the predicted driving trajectory 40, thereby adjusting the predicted driving trajectory 40 so that the fluctuation range of the predicted driving trajectory 40 in the vehicle width direction is smaller than when the fluctuation suppression process is not performed. Alternatively, for example, the specific unit 23 adjusts the predicted driving trajectory 40 so that the fluctuation range of the predicted driving trajectory 40 in the vehicle width direction is less than or equal to the upper limit.

[0076] Figure 8 shows how fluctuations in the predicted driving trajectory 40 in the vehicle width direction of the lean vehicle 1 are suppressed. In the example of Figure 8, similar to the example of Figure 4, a preceding vehicle 30 is traveling in front of the lean vehicle 1 in the same lane. In the example of Figure 4, as the lean vehicle 1 began to travel at a low speed, the preceding vehicle 30 moved out of the detection range 50. On the other hand, in the third process described above, fluctuation suppression processing is performed as the lean vehicle 1 begins to travel at a low speed. As a result, for example, as shown in Figure 8, the fluctuation range of the predicted driving trajectory 40 in the vehicle width direction changes from width D3 to width D4. The changed width D4 is smaller than the width D3 when the fluctuation suppression processing is not performed. In this way, since fluctuations in the predicted driving trajectory 40 in the vehicle width direction are suppressed by the fluctuation suppression processing, the detection range 50 is prevented from swinging left and right in sync with the steering wheel 4. As a result, the situation in which the preceding vehicle 30 remains within the detection range 50 without moving out of the detection range 50 is maintained.

[0077] Following step S304 in Figure 7, or if NO is determined in step S303, in step S305, the identification unit 23 determines the detection range 50 of the ambient environment sensor 14 used for the identification process. The process in step S304 is the same as the process in step S103 in Figure 3.

[0078] Following step S305, in step S306, the identification unit 23 identifies the vehicle detected by the surrounding environment sensor 14 as the target vehicle, and returns to step S302. The process in step S306 is the same as the process in step S104 in Figure 3.

[0079] As described above, in the third process explained with reference to Figures 7 and 8, the identification unit 23 changes the predicted driving trajectory 40 based on speed information. Specifically, if the speed information indicates that the lean vehicle 1 is driving at a low speed, or is in the process of changing to low speed driving, the identification unit 23 suppresses fluctuations in the predicted driving trajectory 40 in the width direction of the lean vehicle 1. As a result, even if the rider performs steering operations to balance the lean vehicle 1, the target vehicle does not move out of the detection range 50, and the situation in which the target vehicle is located within the detection range 50 is maintained. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0080] However, when the specific unit 23 changes the predicted driving trajectory 40 based on speed information, it may perform a process different from the third process described above. For example, the specific unit 23 may perform a fluctuation suppression process such that the suppression effect gradually increases as the speed of the lean vehicle 1 decreases.

[0081] Furthermore, in the third process described above, if, after the fluctuation of the predicted driving trajectory 40 has been suppressed, it is determined that the speed information does not indicate that the lean vehicle 1 is driving at a low speed or is in the process of changing to driving at a low speed, the function to suppress the fluctuation of the predicted driving trajectory 40 is released. However, the conditions for releasing the function to suppress the fluctuation of the predicted driving trajectory 40 may be other than the example above. For example, as a condition for releasing the function to suppress the fluctuation of the predicted driving trajectory 40, a condition such as a specific operation using the input device 13, etc., being performed by the LiDAR, or a condition such as it being determined that the lean vehicle 1 is driving on a curve, may be used, similar to the conditions for releasing the function to prohibit changing the target vehicle.

[0082] In the above, the first, second, and third processes were described as examples of processes related to specific processing performed by the specific unit 23. These processes can be executed in various situations. For example, the specific unit 23 may execute each of the above-described examples of processes when a group consisting of multiple vehicles, including the lean vehicle 1, is driving in a group. In group driving, a group consisting of multiple vehicles, including the lean vehicle 1, drives in multiple convoys (specifically, two convoys, a left convoy and a right convoy, within the same lane).

[0083] <Effects of the control device> The effects of the control device 20 according to an embodiment of the present invention will be described.

[0084] The control device 20 includes an execution unit 22 that performs speed control (adaptive cruise control in the above example) that controls the speed of the lean vehicle 1 based on positional relationship information between the lean vehicle 1 and the target vehicle, and an identification unit 23 that performs identification processing to identify the target vehicle based on the detection results of the surrounding environment sensor 14 mounted on the lean vehicle 1. The identification unit 23 changes the identification processing based on the speed information of the lean vehicle 1. As a result, the target vehicle can be appropriately identified even when the rider performs steering operations to balance the lean vehicle 1. Therefore, speed control based on positional relationship information between the lean vehicle 1 and the target vehicle can be appropriately performed.

[0085] Preferably, in the control device 20, the ambient environment sensor 14 rotates integrally with the handlebars 4 of the leaning vehicle 1. In this case, when the rider operates the handlebars to balance the leaning vehicle 1, the orientation of the ambient environment sensor 14 changes in sync with the handlebars 4, and the detection range 50 of the ambient environment sensor 14 swings from side to side. This makes it difficult to properly identify the target vehicle. Therefore, it is particularly important to properly identify the target vehicle by changing the identification process based on speed information.

[0086] However, the ambient environment sensor 14 does not necessarily have to rotate integrally with the handlebars 4 of the leaning vehicle 1. Even in such cases, the detection results of the ambient environment sensor 14 may fluctuate due to the handlebar operation performed by the rider to balance the leaning vehicle 1. Therefore, by changing the identification process based on speed information, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0087] Preferably, in the control device 20, the identification unit 23 determines whether or not to change the target vehicle according to the speed information. This prevents the loss of the target vehicle when the target vehicle moves out of the detection range 50 of the surrounding environment sensor 14 due to steering maneuvers performed by the rider to balance the lean vehicle 1, as in the first process described above. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0088] Preferably, in the control device 20, the identification unit 23 prohibits changing the target vehicle if the speed information indicates that the lean vehicle 1 is traveling at a low speed, or is in the process of changing to low speed. This effectively prevents the loss of sight of the target vehicle when the target vehicle moves out of the detection range 50 of the surrounding environment sensor 14 due to steering maneuvers performed by the rider to balance the lean vehicle 1, as in the first process described above. Thus, the target vehicle is appropriately identified and speed control is appropriately executed.

[0089] Preferably, in the control device 20, the identification unit 23 changes the detection range 50 of the ambient environment sensor 14 used for identification processing based on speed information. As a result, even if the rider performs steering operations to balance the lean vehicle 1, as in the second processing described above, the target vehicle does not move out of the detection range 50, and the situation in which the target vehicle remains within the detection range 50 is maintained. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0090] Preferably, in the control device 20, the identification unit 23 expands the detection range 50 when the speed information indicates that the lean vehicle 1 is traveling at a low speed lower than the reference speed, or is in the process of changing to low speed travel, compared to when the speed information does not indicate that the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed travel. As a result, even when the rider performs steering operations to balance the lean vehicle 1, as in the second process described above, the target vehicle does not move out of the detection range 50, and the situation in which the target vehicle is located within the detection range 50 is appropriately achieved. Therefore, the target vehicle is appropriately identified and speed control is appropriately executed.

[0091] Preferably, in the control device 20, the detection range 50 of the ambient environment sensor 14 used for the identification process is determined based on the predicted driving trajectory 40 of the lean vehicle 1, and the identification unit 23 changes the predicted driving trajectory 40 based on speed information. As a result, even if the rider performs steering operations to balance the lean vehicle 1, as in the third process described above, the target vehicle does not move out of the detection range 50, and the situation in which the target vehicle is located within the detection range 50 is maintained. Therefore, the target vehicle can be appropriately identified and speed control can be appropriately executed.

[0092] Preferably, in the control device 20, the identification unit 23 suppresses fluctuations in the predicted driving trajectory 40 in the vehicle width direction of the lean vehicle 1 when the speed information indicates that the lean vehicle 1 is driving at a low speed, or is in the process of changing to low speed driving. As a result, even when the rider performs steering operations to balance the lean vehicle 1, as in the third process described above, the target vehicle does not move out of the detection range 50, and the situation in which the target vehicle is located within the detection range 50 is appropriately achieved. Thus, the target vehicle is appropriately identified and speed control is appropriately executed.

[0093] Preferably, in the control device 20, the speed information is information indicating the speed of the lean vehicle 1. This allows for appropriate determination of whether the lean vehicle 1 is traveling at a low speed or is in the process of changing to low-speed travel, by focusing on the speed of the lean vehicle 1.

[0094] Preferably, in the control device 20, the speed information is information indicating the deceleration of the lean vehicle 1. This allows for appropriate determination of whether the lean vehicle 1 is traveling at a low speed or is in the process of changing to low speed travel, by focusing on the deceleration of the lean vehicle 1.

[0095] Preferably, in the control device 20, the speed information is information regarding the brake operation performed by the rider of the lean vehicle 1. This allows for appropriate determination of whether the lean vehicle 1 is traveling at a low speed or is in the process of changing to travel at a low speed, by focusing on the brake operation performed by the rider.

[0096] The present invention is not limited to the descriptions of embodiments. For example, only a part of the embodiments may be implemented. For example, the speed information used in each of the first, second, and third processes described above is not particularly limited. Specifically, in each of the first, second, and third processes described above, the speed information may be information indicating the speed of the lean vehicle 1, information indicating the deceleration of the lean vehicle 1, or information regarding the braking operation by the rider of the lean vehicle 1. Furthermore, in each of the first, second, and third processes described above, multiple types of information from among information indicating the speed of the lean vehicle 1, information indicating the deceleration of the lean vehicle 1, and information regarding the braking operation by the rider of the lean vehicle 1 may be used as speed information. [Explanation of symbols]

[0097] 1 Lean vehicle, 2 Front wheels, 3 Rear wheels, 4 Steering wheel, 11 Engine, 12 Hydraulic control unit, 13 Input device, 14 Surrounding environment sensor, 15 Inertial measurement device, 16 Front wheel speed sensor, 17 Rear wheel speed sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit, 23 Identification unit, 30 Preceding vehicle, 40 Predicted driving trajectory, 50 Detection range, D1 First width, D2 Second width, D3 Width, D4 Width.

Claims

1. A control device (20) for controlling the behavior of a lean vehicle (1), An execution unit (22) that performs speed control to control the speed of the lean vehicle (1) based on positional relationship information between the lean vehicle (1) and the target vehicle, A identification unit (23) performs an identification process to identify the target vehicle based on the detection results of the surrounding environment sensor (14) mounted on the lean vehicle (1), Equipped with, The following (i) to (iii) must be possessed: Control device. (i) The specific unit (23) prohibits changing the target vehicle if the speed information of the lean vehicle (1) indicates that the lean vehicle (1) is traveling at a low speed, which is lower than the reference speed, or is in the process of changing to low speed. (ii) The identification unit (23) changes the detection range (50) of the ambient environment sensor (14) used in the identification process based on the speed information. (iii) The detection range (50) of the ambient environment sensor (14) used in the specified processing is determined based on the predicted driving trajectory (40) of the lean vehicle (1), The specified unit (23) changes the predicted driving trajectory (40) based on the speed information.

2. The ambient environment sensor (14) rotates integrally with the steering wheel (4) of the lean vehicle (1). The control device according to claim 1.

3. The specified unit (23) prohibits changing the target vehicle if the speed information indicates that the lean vehicle (1) is performing the low-speed driving or is in the process of changing to low-speed driving. The control device according to claim 1.

4. The specified unit (23) changes the detection range (50) of the ambient environment sensor (14) used in the specified process based on the speed information. The control device according to claim 1.

5. The specified unit (23) expands the detection range (50) when the speed information indicates that the lean vehicle (1) is performing low-speed driving or is in the process of changing to low-speed driving, compared to when the speed information does not indicate that the lean vehicle (1) is performing low-speed driving or is in the process of changing to low-speed driving. The control device according to claim 4.

6. The detection range (50) of the ambient environment sensor (14) used in the specified processing is determined based on the predicted driving trajectory (40) of the lean vehicle (1). The specified unit (23) changes the predicted driving trajectory (40) based on the speed information. The control device according to claim 1.

7. The specified unit (23) suppresses fluctuations in the predicted driving trajectory (40) of the lean vehicle (1) in the vehicle width direction when the speed information indicates that the lean vehicle (1) is performing low-speed driving or is in the process of changing to low-speed driving. The control device according to claim 6.

8. The speed information is information indicating the speed of the lean vehicle (1). The control device according to claim 1 or 2.

9. The speed information is information indicating the deceleration of the lean vehicle (1). The control device according to claim 1 or 2.

10. The speed information is information relating to the brake operation performed by the rider of the lean vehicle (1). The control device according to claim 1 or 2.

11. A control method for controlling the behavior of a lean vehicle (1), The execution unit (22) of the control device (20) performs speed control to control the speed of the lean vehicle (1) based on positional relationship information between the lean vehicle (1) and the target vehicle. The identification unit (23) of the control device (20) performs an identification process to identify the target vehicle based on the detection results of the surrounding environment sensor (14) mounted on the lean vehicle (1). The following (i) to (iii) must be possessed: Control method. (i) The specific unit (23) prohibits changing the target vehicle if the speed information of the lean vehicle (1) indicates that the lean vehicle (1) is traveling at a low speed, which is lower than the reference speed, or is in the process of changing to low speed. (ii) The identification unit (23) changes the detection range (50) of the ambient environment sensor (14) used in the identification process based on the speed information. (iii) The detection range (50) of the ambient environment sensor (14) used in the specified processing is determined based on the predicted driving trajectory (40) of the lean vehicle (1), The specified unit (23) changes the predicted driving trajectory (40) based on the speed information.

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