Control device and control method for a rider assistance system

Abstract

The present invention provides a control device and a control method which can improve assistance performance of a rider. This control device for a rider assist system includes an execution unit that, while the rider is operating a driving operation unit, executes a first vehicle speed control action for controlling the vehicle speed of a motorcycle (100), on the basis of positional relationship information between the motorcycle (100) and another vehicle (200) running ahead of the motorcycle (100), and that, if determined that the motorcycle (100) needs to be stopped or slowed down while the first vehicle speed control action is executed, executes a second vehicle speed control action for automatically generating deceleration for the motorcycle (100), while the rider is operating the driving operation unit, and for causing the motorcycle (100) to stop or slow down.

Description

【Technical Field】 【0001】 The present invention relates to a control device for a rider support system of a motorcycle and a control method for a rider support system of a motorcycle. 【Background Art】 【0002】 As a conventional rider support system, there is one in which a control device executes a vehicle speed control operation of a motorcycle based on position relationship information between the motorcycle and another vehicle traveling in front of the motorcycle (see, for example, Patent Document 1). 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 International Publication No. 2018 / 197965 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 It is assumed that a vehicle speed control operation for adjusting the positional relationship between a motorcycle and another vehicle traveling in front of the motorcycle is executed while the rider is operating a drive operation unit that is an operation unit of the drive device of the motorcycle. Such a vehicle speed control operation assumes a situation where the rider is continuously operating the drive operation unit, that is, a situation where the motorcycle is traveling in a high speed range. Therefore, in a situation where it is necessary to stop or slow down the motorcycle, the rider needs to release the operation of the drive operation unit and then operate the braking operation unit that is an operation unit of the braking device of the motorcycle by himself / herself. 【0005】 The present invention has been made against the background of the above problems, and aims to obtain a control device capable of improving rider support. Also, it aims to obtain a control method capable of improving rider support. 【Means for Solving the Problems】 【0006】 The control device according to the present invention is a control device for a motorcycle rider support system comprising: a braking device that applies braking force to a wheel when a braking operation unit is operated by a rider; and a drive device that applies driving force to a wheel when a drive operation unit is operated by the rider, the control device comprising: an acquisition unit that acquires positional relationship information between the motorcycle and another vehicle traveling in front of the motorcycle while the motorcycle is in motion; and an execution unit that, while the rider is operating the drive operation unit, executes a first vehicle speed control operation that controls the vehicle speed of the motorcycle based on the positional relationship information acquired by the acquisition unit; and further comprises a determination unit that determines whether or not it is necessary to stop or slow down the motorcycle while the motorcycle is in motion, and if the determination unit determines that such a need exists during the execution of the first vehicle speed control operation, the execution unit executes a second vehicle speed control operation that automatically decelerates the motorcycle while the rider is operating the drive operation unit, thereby stopping or slowing down the motorcycle. 【0007】 The present invention relates to a control method for a motorcycle rider support system comprising a braking device that applies braking force to a wheel when a braking operation unit is operated by a rider, and a drive device that applies driving force to a wheel when a drive operation unit is operated by the rider, wherein the control method comprises an acquisition step in which an acquisition unit of the control device acquires positional relationship information between the motorcycle and another vehicle traveling in front of the motorcycle while the motorcycle is in motion, and an execution step in which the execution unit of the control device performs a first vehicle speed control operation to control the vehicle speed of the motorcycle based on the positional relationship information acquired in the acquisition step while the rider is operating the drive operation unit, and further comprises a determination step in which a determination unit of the control device determines whether or not it is necessary to stop or slow down the motorcycle while the motorcycle is in motion, and in the execution step, if the execution unit determines in the determination step that there is such a need, it performs a second vehicle speed control operation that automatically decelerates the motorcycle while the rider is operating the drive operation unit, thereby stopping or slowing down the motorcycle. [Effects of the Invention] 【0008】 In the control device and control method according to the present invention, the execution unit performs a first speed control operation to control the speed of the motorcycle based on positional relationship information between the motorcycle and other vehicles traveling in front of the motorcycle, while the rider is operating the drive operation unit. If it is determined during the execution of the first speed control operation that it is necessary to stop or slow down the motorcycle, the execution unit performs a second speed control operation that automatically decelerates the motorcycle while the rider is operating the drive operation unit, thereby stopping or slowing down the motorcycle. As a result, in situations where it is necessary to stop or slow down the motorcycle, the rider does not need to release the drive operation unit and operate the brake operation unit themselves, thereby improving rider assistance. [Brief explanation of the drawing] 【0009】 [Figure 1]This figure shows the rider assistance system according to an embodiment of the present invention mounted on a motorcycle. [Figure 2] This figure shows the system configuration of a rider assistance system according to an embodiment of the present invention. [Figure 3] This is a diagram illustrating the configuration of a rider assistance system according to an embodiment of the present invention. [Figure 4] This figure shows the operation flow of the control device of a rider assistance system according to an embodiment of the present invention. [Modes for carrying out the invention] 【0010】 The control device and control method according to the present invention will be described below with reference to the drawings. 【0011】 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. 【0012】 For example, the following description explains how the control device and control method according to the present invention are used in a rider assistance system for a motorcycle, but the control device and control method according to the present invention may also be used in rider assistance systems for other types of motorcycles. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Motorcycles include, for example, three-wheeled vehicles, motorcycles, scooters, electric scooters, etc. 【0013】 Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. Also, in each figure, identical or similar parts are either denoted by the same reference numeral or their identification has been omitted. In addition, detailed structures have been simplified or omitted as appropriate. 【0014】 Embodiment. The rider assistance system according to an embodiment is described below. 【0015】 <Configuration of the rider support system> The configuration of the rider assistance system according to the embodiment will be described below. Figure 1 shows the rider support system according to an embodiment of the present invention mounted on a motorcycle. Figure 2 shows the system configuration of the rider support system according to an embodiment of the present invention. Figure 3 is a diagram illustrating the configuration of the rider support system according to an embodiment of the present invention. 【0016】 As shown in Figures 1 and 2, the rider assistance system 1 is mounted on the motorcycle 100. The rider assistance system 1 includes, for example, an ambient environment sensor 11, a vehicle behavior sensor 12, a setting input device 13, a communication device 14, a positioning sensor 15, a braking operation sensor 16, a drive operation sensor 17, a control unit (ECU) 20, a braking device 30, a drive device 40, and a notification device 50, as needed. 【0017】 In the rider assistance system 1, the control device 20 uses the outputs of the surrounding environment sensor 11, the vehicle behavior sensor 12, the setting input device 13, the communication device 14, the positioning sensor 15, the braking operation sensor 16, and / or the drive operation sensor 17 to perform rider assistance operations that support the rider's operation of the motorcycle 100. The control device 20 outputs control commands to various devices (e.g., the braking device 30, the drive device 40, the notification device 50, etc.) to perform rider assistance operations. The control device 20 also receives outputs from various sensors (not shown) to detect other information as needed. Each part of the rider assistance system 1 may be used exclusively for the rider assistance system 1, or it may be shared with other systems. 【0018】 The surrounding environment sensor 11 includes at least a detection unit 11a that detects the surrounding environment in front of the motorcycle 100. The surrounding environment sensor 11 may include a detection unit 11b that detects the surrounding environment behind the motorcycle 100, may also include a detection unit 11c that detects the surrounding environment to the left of the motorcycle 100, and may also include a detection unit 11d that detects the surrounding environment to the right of the motorcycle 100. The detection units 11a, 11b, 11c, and 11d are, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, etc., respectively. At least a part of the detection unit 11c and the detection unit 11d may be substituted by the detection unit 11a or the detection unit 11b. 【0019】 The vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor (IMU), etc. The vehicle speed sensor detects the vehicle speed occurring in the motorcycle 100. The vehicle speed sensor may be one that detects another physical quantity that can be substantially converted into the vehicle speed occurring in the motorcycle 100. The inertial sensor detects the acceleration in three axes (front-rear direction, vehicle width direction, vehicle height direction) and the angular velocity in three axes (roll, pitch, yaw) occurring in the motorcycle 100. The inertial sensor may be one that detects another physical quantity that can be substantially converted into the acceleration in three axes and the angular velocity in three axes occurring in the motorcycle 100. Also, the inertial sensor may be one that detects only a part of the acceleration in three axes and the angular velocity in three axes. 【0020】 The setting input device 13 receives setting operations for various settings by the rider. For example, the rider can switch the enable and disable of various rider support operations using the setting input device 13. Also, for example, the rider can set various modes or various control parameters (e.g., tolerance values, etc.) used in various rider support operations using the setting input device 13. The setting input device 13 may be one that receives an operation by the rider's body (e.g., hands, feet, etc.), or may be one that receives the voice emitted by the rider. Also, the setting input device 13 may be provided on the motorcycle 100, or may be provided on accessories (e.g., helmet, gloves, etc.) attached to the motorcycle 100. 【0021】 The communication device 14 wirelessly communicates with other communication devices provided in surrounding vehicles of the motorcycle 100 and / or other communication devices provided in road facilities (e.g., traffic lights, signs, guardrails, utility poles, etc.). The other communication devices provided in the surrounding vehicles transmit, for example, the running state information of the surrounding vehicles detected by those surrounding vehicles and the surrounding environment information of the surrounding vehicles detected by those surrounding vehicles to the communication device 14. The other communication devices provided in the road facilities transmit, for example, the state information of the road facilities and the surrounding environment information of the road facilities detected by the road facilities to the communication device 14. 【0022】 The positioning sensor 15 receives positioning signals transmitted from a plurality of communication satellites and identifies the position of the motorcycle 100 on the global positioning system. The position of the motorcycle 100 is collated with map information to obtain position information on the map. 【0023】 The braking operation sensor 16 detects the operation state information of the braking operation unit 110, which is an operation unit (e.g., brake lever, brake pedal, etc.) of the braking device 30 by the rider. The operation state information is information on physical quantities (e.g., presence or absence of operation, operation amount, change gradient of operation amount, etc.) related to the operation of the braking operation unit 110. The braking operation sensor 16 may detect information on other physical quantities that can be substantially converted into physical quantities related to the operation of the braking operation unit 110. 【0024】 The driving operation sensor 17 detects the operation state information of the driving operation unit 120, which is an operation unit (e.g., throttle grip, etc.) of the driving device 40 by the rider. The operation state information is information on physical quantities (e.g., presence or absence of operation, operation amount, change gradient of operation amount, etc.) related to the operation of the driving operation unit 120. The driving operation sensor 17 may detect information on other physical quantities that can be substantially converted into physical quantities related to the operation of the driving operation unit 120. 【0025】 The control device 20 includes at least an acquisition unit 21, an execution unit 22, and a determination unit 23. All or any of the parts of the control device 20 may be housed together in a single enclosure, or they may be housed in multiple enclosures. Furthermore, all or any of the parts of the control device 20 may consist of, for example, a microcontroller, a microprocessor unit, or an updatable firmware, or a program module executed by commands from a CPU, etc. 【0026】 The acquisition unit 21 acquires information about the surrounding environment of the motorcycle 100 while the motorcycle 100 is in motion, based on the output of the surrounding environment sensor 11. The surrounding environment information includes positional relationship information between the motorcycle 100 and objects located around the motorcycle 100 (e.g., vehicles, obstacles, road facilities, people, animals, etc.). Positional relationship information includes, for example, relative position, relative distance, relative speed, relative acceleration, relative jerk, difference in passing time, and predicted time until collision. Positional relationship information may also include information on other physical quantities that can be substantially converted to these. The acquisition unit 21 may also acquire information about the surrounding environment of the motorcycle 100 while the motorcycle 100 is in motion, based on the output of the communication device 14. 【0027】 The execution unit 22 performs a vehicle speed control operation of the motorcycle 100 based on the surrounding environment information (particularly positional relationship information) acquired by the acquisition unit 21 as a rider support operation. When performing the vehicle speed control operation, the execution unit 22 outputs a control command to the braking device 30 or the drive device 40. The braking device 30 brakes the motorcycle 100. The drive device 40 drives the motorcycle 100 as the power source for the motorcycle 100. The braking device 30 may be controlled to produce or increase deceleration, or to produce or increase acceleration. The drive device 40 may be controlled to produce or increase acceleration, or to produce or increase deceleration. 【0028】 The execution unit 22 outputs control commands to the notification device 50 as needed when performing rider assistance actions. The notification device 50 may notify warnings or information by display (i.e., perception using the visual organ as a sensory organ), by sound (i.e., perception using the auditory organ as a sensory organ), or by vibration (i.e., perception using the tactile organ as a sensory organ). For example, the notification device 50 may be a display, lamp, speaker, vibrator, etc. The notification device 50 may be installed on the motorcycle 100, or on equipment attached to the motorcycle 100 (e.g., helmet, gloves, etc.). The notification action may also notify warnings or information by causing instantaneous deceleration or acceleration of the motorcycle 100. In other words, the notification device 50 may be composed of a braking device 30 or a drive device 40. 【0029】 The execution unit 22 causes the motorcycle 100 to perform a first vehicle speed control operation. As shown in Figure 3, the first vehicle speed control operation is a vehicle speed control operation in which the speed of the motorcycle 100 is controlled and the positional relationship is adjusted based on the positional relationship information of the motorcycle 100 and the target vehicle, that is, another vehicle 200 traveling in front of the motorcycle 100. Positional relationship information of other vehicles 200 traveling in directions other than in front of the motorcycle 100 may also be taken into consideration. 【0030】 The first vehicle speed control operation automatically decelerates or accelerates the motorcycle 100 while the rider is operating the drive control unit 120, adjusting the positional relationship between the motorcycle 100 and the target vehicle, i.e., another vehicle 200 traveling in front of the motorcycle 100. For example, while the rider is operating the drive control unit 120, the execution unit 22 outputs a control command to the braking device 30 to generate a predetermined amount of braking force in order to control the distance or time difference between the motorcycle and the target vehicle to a distance or time difference corresponding to the amount of operation. Also, while the rider is operating the drive control unit 120, the execution unit 22 outputs a control command to the drive device 40 to reduce the driving force by a predetermined amount in order to control the distance or time difference between the motorcycle and the target vehicle to a distance or time difference corresponding to the amount of operation. Note that the execution unit 22 does not need to take into account the amount of operation of the drive control unit 120 by the rider when controlling the distance or time difference between the motorcycle and the target vehicle. 【0031】 The determination unit 23 determines whether or not it is necessary to stop or slow down the motorcycle 100 while it is in motion. If the determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 while the first speed control operation is being performed, the execution unit 22 executes a second speed control operation that automatically decelerates the motorcycle 100 while the rider is operating the drive operation unit 120, thereby stopping or slowing down the motorcycle 100. If the determination unit 23 determines that it is not necessary to stop or slow down the motorcycle 100 while the first speed control operation is being performed, the execution unit 22 continues the first speed control operation. 【0032】 For example, the determination unit 23 determines whether it is necessary to stop or slow down the motorcycle 100 based on the output of the vehicle behavior sensor 12 of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the vehicle behavior sensor 12 indicates that the speed of the motorcycle 100 will fall below the standard speed at that time or in the future. 【0033】 For example, the determination unit 23 determines whether it is necessary to stop or slow down the motorcycle 100 based on the output of the ambient environment sensor 11. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the ambient environment sensor 11 indicates that there is another vehicle 200 that is stopped or moving slowly in front of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the ambient environment sensor 11 indicates that the other vehicle 200 traveling in front of the motorcycle 100 is decelerating at a large deceleration rate. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the ambient environment sensor 11 indicates that the traffic light in front of the motorcycle 100 is red or yellow. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the ambient environment sensor 11 indicates that there is a stop line in front of the motorcycle 100. The determination unit 23 also determines that it is necessary to stop or slow down the motorcycle 100 if the output of the ambient environment sensor 11 indicates that there is a sign instructing the motorcycle to stop or slow down in front of the motorcycle 100. 【0034】 For example, the determination unit 23 determines whether it is necessary to stop or slow down the motorcycle 100 based on the output of the communication device 14. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that there is another vehicle 200 that is stopped or slowing down in front of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that the other vehicle 200 traveling in front of the motorcycle 100 is decelerating at a large deceleration rate. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that the color of the traffic light in front of the motorcycle 100 is red or yellow. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that there is a stop line ahead of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that there is a sign instructing the motorcycle to stop or slow down ahead of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that there is a traffic jam or an accident ahead of the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the communication device 14 indicates that construction is being carried out ahead of the motorcycle 100. 【0035】 For example, the determination unit 23 determines, based on map information, whether or not it is necessary to stop or slow down the motorcycle 100. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the location information of the motorcycle 100 on the map, obtained based on the output of the positioning sensor 15 and map information, indicates that there is a stop line ahead of the motorcycle 100. The determination unit 23 also determines that it is necessary to stop or slow down the motorcycle 100 if the location information of the motorcycle 100 on the map, obtained based on the output of the positioning sensor 15 and map information, indicates that the motorcycle 100 is traveling in an area where stopping or slowing down is required. 【0036】 For example, the determination unit 23 determines whether it is necessary to stop or slow down the motorcycle 100 based on the output of the setting input device 13, which accepts setting operations from the rider. The determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100 if the output of the setting input device 13 is information indicating that the rider is instructing a switch from the first vehicle speed control operation to the second vehicle speed control operation. 【0037】 For example, as a second vehicle speed control operation, the execution unit 22 may, while the rider is operating the drive operation unit 120, generate or increase the braking force applied by the braking device 30 to the wheels by a predetermined amount, without using the target vehicle from the first vehicle speed control operation as the target of vehicle speed control, thereby stopping or slowing down the motorcycle 100 at a deceleration independent of the amount of operation. Alternatively, as a second vehicle speed control operation, the execution unit 22 may, while the rider is operating the drive operation unit 120, generate or increase the braking force applied by the braking device 30 to the wheels by a predetermined amount, without using the target vehicle from the first vehicle speed control operation as the target of vehicle speed control, thereby stopping or slowing down the motorcycle 100 at a deceleration independent of the amount of operation. 【0038】 For example, as a second vehicle speed control operation, the execution unit 22 may generate or increase the braking force applied by the braking device 30 to the wheels by a predetermined amount while the rider is operating the drive operation unit 120, thereby controlling the distance or time difference between the motorcycle 100 and the target vehicle, i.e., another vehicle 200 traveling ahead of the motorcycle 100, to a distance or time difference that does not correspond to the amount of operation. Alternatively, as a second vehicle speed control operation, the execution unit 22 may generate or increase the braking force applied by the braking device 30 to the wheels by a predetermined amount while the rider is operating the drive operation unit 120, thereby controlling the distance or time difference between the motorcycle 100 and the target vehicle, i.e., another vehicle 200 traveling ahead of the motorcycle 100, to a distance or time difference that corresponds to the amount of operation. In addition to generating or increasing the braking force applied by the braking device 30 to the wheels by a predetermined amount, the execution unit 22 may also decrease the driving force applied by the drive device 40 to the wheels by a predetermined amount. 【0039】 For example, the execution unit 22 sets different allowable values ​​for the state quantities of speed change to be generated in the motorcycle 100 between the first speed control operation, which is executed when the determination unit 23 determines that there is no need to stop or slow down the motorcycle 100, and the second speed control operation. Specifically, in the second speed control operation, the execution unit 22 controls the speed of the motorcycle 100 with a larger or smaller allowable value for the differential value of deceleration and / or deceleration compared to the first speed control operation, which is executed when the determination unit 23 determines that there is no need to stop or slow down the motorcycle 100. 【0040】 For example, the execution unit 22 causes the notification device 50 to perform a notification operation to inform the rider that the first vehicle speed control operation has switched to the second vehicle speed control operation or that the switch has occurred. Also, for example, the execution unit 22 causes the notification device 50 to perform a notification operation to prompt the rider to release the operation of the drive operation unit 120 during the process in which the motorcycle 100 comes to a stop or slows down due to the second vehicle speed control operation, or after the motorcycle 100 has come to a stop or slows down. Furthermore, if the motorcycle 100 is operated by manual gear shifting, for example, the execution unit 22 causes the notification device 50 to perform a notification operation to prompt the rider to operate the clutch during the process in which the motorcycle 100 comes to a stop or slows down due to the second vehicle speed control operation. Furthermore, for example, the execution unit 22 causes the notification device 50 to perform a notification operation prompting the rider to operate the braking unit 110 during the process in which the motorcycle 100 comes to a stop or slows down due to the second vehicle speed control operation, or after the motorcycle 100 has come to a stop or slows down. 【0041】 In the second vehicle speed control operation, when the motorcycle 100 comes to a stop or slows down, the execution unit 22 maintains the braking force and / or driving force that it has automatically applied to the braking device 30 and / or the drive device 40 at that time. The determination unit 23 then determines whether the rider intends to release the motorcycle 100 from stopping or slowing down. If the determination unit 23 determines that the rider intends to release the motorcycle 100 from stopping or slowing down, the execution unit 22 executes a third vehicle speed control operation that automatically generates acceleration in the motorcycle 100 to start or accelerate the motorcycle 100. If the determination unit 23 determines that the rider does not intend to release the motorcycle 100 from stopping or slowing down, the execution unit 22 continues to maintain the braking force and / or driving force. If the execution unit 22 determines in the determination unit 23 that the rider intends to release the motorcycle 100 from stopping or slowing down during the process in which the motorcycle 100 comes to a stop or slow down due to the second speed control operation, it may execute a third speed control operation in which the rider automatically generates acceleration in the motorcycle 100 and accelerates the motorcycle 100. 【0042】 For example, the determination unit 23 determines whether the rider intends to release the stop or slowdown of the motorcycle 100 based on the rider's operating status information of the drive operation unit 120. In addition, the determination unit 23 determines whether the rider intends to release the stop or slowdown of the motorcycle 100 based on the rider's operating status information of the brake operation unit 110, either in lieu of or in addition to the rider's operating status information of the drive operation unit 120. The determination unit 23 determines that the rider intends to release the stop or slowdown of the motorcycle 100 if the rider does not release the operation of the drive operation unit 120 within a standard time elapsed after the motorcycle 100's speed falls below the standard speed due to the second speed control operation, or after the motorcycle 100 comes to a stop or slowdown due to the second speed control operation. The determination unit 23 determines that the rider intends to release the motorcycle 100 from stopping or slowing down if the rider does not operate the braking unit 110 within a standard time after the motorcycle 100's speed falls below the standard speed due to the second speed control operation, or after the motorcycle 100 has stopped or slowed down due to the second speed control operation. The determination unit 23 also determines that the rider intends to release the motorcycle 100 from stopping or slowing down if, during the process of the motorcycle 100 stopping or slowing down due to the second speed control operation, or after the motorcycle 100 has stopped or slowed down due to the second speed control operation, the rider increases the amount of operation of the drive unit 120 by an amount of change or gradient of change that exceeds a standard value. The determination unit 23 determines that the rider intends to release the motorcycle 100 from stopping or slowing down if, during the process of the motorcycle 100 coming to a stop or slowing down due to the second vehicle speed control operation, or while the motorcycle 100 is stopped or slowing down due to the second vehicle speed control operation, the rider releases and then re-operates the drive operation unit 120. 【0043】 For example, the determination unit 23 determines whether the rider intends to release the stop or slow-speed operation of the motorcycle 100 based on the output of the setting input device 13, which accepts setting operations from the rider. The determination unit 23 determines that the rider intends to release the stop or slow-speed operation of the motorcycle 100 if the output of the setting input device 13 is information indicating that the rider is instructing a switch from the second speed control operation to the third speed control operation. 【0044】 For example, as a third vehicle speed control operation, the execution unit 22 releases the braking force that is automatically applied to the braking device 30 in the second vehicle speed control operation. If the motorcycle 100 is capable of automatic gear shifting, the execution unit 22 starts or accelerates the motorcycle 100 by releasing the braking force that is automatically applied to the braking device 30. If the motorcycle 100 is stopped or moving slowly downhill, the execution unit 22 starts or accelerates the motorcycle 100 by releasing the braking force that is automatically applied to the braking device 30. The execution unit 22 generates or increases the driving force applied to the wheels by the drive device 40 as needed. 【0045】 For example, the execution unit 22 determines whether or not to perform the third speed control operation based on the surrounding environment information in front of the motorcycle 100. The execution unit 22 prohibits the third speed control operation if the surrounding environment information in front indicates that there is another vehicle 200 that is stopped or moving slowly at a distance closer to the motorcycle 100 than the reference distance. The execution unit 22 also prohibits the third speed control operation if the surrounding environment information in front indicates that it is still necessary to stop or slow down the motorcycle 100. 【0046】 For example, the execution unit 22 performs a third vehicle speed control operation based on supplementary information, which is the driving state information of the motorcycle 100 or the other vehicle 200 located in front of the motorcycle 100. Alternatively, for example, the execution unit 22 performs a third vehicle speed control operation based on supplementary information, which is the positional relationship information between the motorcycle 100 and the other vehicle 200 located in front of the motorcycle 100. The execution unit 22 may change the behavior of the motorcycle 100 in the third vehicle speed control operation depending on whether the supplementary information does not meet the criteria or whether the supplementary information meets the criteria. In the third vehicle speed control operation, the execution unit 22 controls the acceleration generated in the motorcycle 100 without relying on the positional relationship information between the motorcycle 100 and the other vehicle 200 located in front of the motorcycle 100 until the speed of the motorcycle 100 reaches the reference speed, and after the speed of the motorcycle 100 reaches the reference speed, it controls the acceleration generated in the motorcycle 100 based on that positional relationship information. In the third vehicle speed control operation, the execution unit 22 automatically generates acceleration in the motorcycle 100 to start or accelerate the motorcycle 100 after the speed of the other vehicle 200 located in front of the motorcycle 100 exceeds the reference speed. In the third vehicle speed control operation, the execution unit 22 automatically generates acceleration in the motorcycle 100 to start or accelerate the motorcycle 100 after the relative distance between the motorcycle 100 and the other vehicle 200 located in front of the motorcycle 100 exceeds the reference distance. If the motorcycle 100 is capable of automatic gear shifting, in the third vehicle speed control operation, the execution unit 22 first releases the braking force automatically applied to the braking device 30 to start the motorcycle 100, and after the speed of the other vehicle 200 located in front of the motorcycle 100 exceeds the reference speed, increases the driving force applied to the wheels by the drive device 40 to accelerate the motorcycle 100.If the motorcycle 100 is capable of automatic gear shifting, the execution unit 22, in the third vehicle speed control operation, first releases the braking force automatically applied to the braking device 30 to start the motorcycle 100, and after the relative distance between the motorcycle 100 and the other vehicle 200 located in front of the motorcycle 100 exceeds the reference distance, increases the driving force applied to the wheels by the drive device 40 to accelerate the motorcycle 100. 【0047】 For example, the execution unit 22 causes the notification device 50 to perform a notification operation to inform the rider that the second vehicle speed control operation has switched to the third vehicle speed control operation or that the switch has occurred. Also, for example, the execution unit 22 causes the notification device 50 to perform a notification operation to inform the rider of the start or acceleration at the time when the motorcycle 100 starts moving or accelerating due to the third vehicle speed control operation, or at a predetermined time before that time. Furthermore, the execution unit 22 causes the notification device 50 to perform a notification operation to inform the rider whether the acceleration generated in the motorcycle 100 is controlled without regard to the positional relationship information between the motorcycle 100 and another vehicle 200 located in front of the motorcycle 100, or whether the acceleration generated in the motorcycle 100 is controlled based on that positional relationship information. 【0048】 <Operation of the rider support system> The operation of the rider assistance system according to the embodiment will be described. Figure 4 is a diagram showing the operation flow of the control device of a rider assistance system according to an embodiment of the present invention. 【0049】 The control device 20 executes the operation flow shown in Figure 4 while the motorcycle 100 is in motion. 【0050】 (Acquisition Step) In step S101, the acquisition unit 21 acquires information about the surrounding environment of the motorcycle 100 while the motorcycle 100 is in motion. The surrounding environment information includes positional relationship information between the motorcycle 100 and other vehicles 200 traveling in front of the motorcycle 100. The acquisition unit 21 also acquires various other information as needed. 【0051】 (Execution step) In step S102, the execution unit 22 causes the motorcycle 100 to perform the first vehicle speed control operation. 【0052】 (Judgment step) In step S103, the determination unit 23 determines whether or not it is necessary to stop or slow down the motorcycle 100 while it is in motion. If it is not necessary to stop or slow down the motorcycle 100, the first vehicle speed control operation continues. If it is necessary to stop or slow down the motorcycle 100, the process proceeds to step S104. 【0053】 (Execution step) In step S104, the execution unit 22 causes the motorcycle 100 to perform the second vehicle speed control operation. 【0054】 (Judgment step) In step S105, the determination unit 23 determines whether the rider intends to release the stop or slowdown of the motorcycle 100. If the rider does not intend to release the stop or slowdown of the motorcycle 100, the second vehicle speed control operation continues. If the rider intends to release the stop or slowdown of the motorcycle 100, the process proceeds to step S106. 【0055】 (Execution step) In step S106, the execution unit 22 causes the motorcycle 100 to perform the third vehicle speed control operation. 【0056】 <Effects of the rider support system> The effects of the rider assistance system according to the embodiment will be explained. In the rider support system 1, the execution unit 22 controls the speed of the motorcycle 100 based on the positional relationship information between the motorcycle 100 and another vehicle 200 traveling in front of the motorcycle 100, while the rider is operating the drive operation unit 120. If it is determined during the execution of the first speed control operation that it is necessary to stop or slow down the motorcycle 100, the execution unit 22 automatically decelerates the motorcycle 100 while the rider is operating the drive operation unit 120, thereby stopping or slowing down the motorcycle 100. As a result, in situations where it is necessary to stop or slow down the motorcycle 100, the rider does not need to release the drive operation unit 120 and operate the brake operation unit 110 themselves, thus improving rider support. 【0057】 Furthermore, in the rider support system 1, if the execution unit 22 determines that the rider intends to release the motorcycle 100 from stopping or slowing down during the process or state in which the motorcycle 100 has come to a stop or slowed down due to the second speed control operation, it automatically generates acceleration in the motorcycle 100 and executes a third speed control operation to start or accelerate the motorcycle 100.Therefore, starting or accelerating from the second speed control operation is appropriately supported. 【0058】 Although embodiments have been described above, only a part of the embodiments may be implemented, parts of the embodiments may be combined, and parts of the embodiments may be modified to different forms. In other words, the present invention is not limited to the description of embodiments. 【0059】 For example, if the determination unit 23 determines that it is necessary to stop or slow down the motorcycle 100, it may automatically propose switching from the first speed control operation to the second speed control operation, and this proposal may be confirmed by the rider's input of acceptance. Also, if the determination unit 23 determines that the rider intends to release the motorcycle 100 from stopping or slowing down, it may automatically propose switching from the second speed control operation to the third speed control operation, and this proposal may be confirmed by the rider's input of acceptance. Furthermore, the execution unit 22 may execute the first speed control operation, the second speed control operation, and / or the third speed control operation based on the rider's clutch operation status information. For example, if the clutch disengagement operation performed by the rider is maintained for longer than a reference time, the execution unit 22 will cancel the first speed control operation, the second speed control operation, or the third speed control operation that is currently being executed. In addition, the control parameters of each control operation may be set by the rider. [Explanation of symbols] 【0060】 1 Rider support system, 11 Surrounding environment sensor, 12 Vehicle behavior sensor, 13 Setting input device, 14 Communication device, 15 Positioning sensor, 16 Brake operation sensor, 17 Drive operation sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit, 23 Judgment unit, 30 Brake device, 40 Drive device, 50 Notification device, 100 Motorcycle, 110 Brake operation unit, 120 Drive operation unit, 200 Other vehicles.

Claims

[Claim 1] A control device (20) for a rider support system (1) of a motorcycle (100) comprising a braking device (30) that applies braking force to the wheel when a braking operation unit (110) is operated by the rider, and a drive device (40) that applies driving force to the wheel when a drive operation unit (120) is operated by the rider, An acquisition unit (21) acquires positional relationship information between the motorcycle (100) and another vehicle (200) traveling in front of the motorcycle (100) while the motorcycle (100) is in motion. While the rider is operating the drive operation unit (120), the execution unit (22) executes a first vehicle speed control operation that controls the vehicle speed of the motorcycle (100) based on the positional relationship information acquired by the acquisition unit (21), It is equipped with, Furthermore, the system includes a determination unit (23) that determines whether or not it is necessary to stop or slow down the motorcycle (100) while it is in motion. The execution unit (22) executes a second vehicle speed control operation, which, if the determination unit (23) determines that there is a need for it while the rider is operating the drive operation unit (120), automatically decelerates the motorcycle (100) to stop or slow down the motorcycle (100). Control device (20). [Claim 2] The execution unit (22) makes the allowable values ​​of the state quantities of vehicle speed change to be generated in the motorcycle (100) different for the first vehicle speed control operation and the second vehicle speed control operation, which are executed when the determination unit (23) determines that there is no need for the above. The control device (20) according to claim 1. [Claim 3] The determination unit (23) determines whether or not the necessity exists based on the output of the vehicle behavior sensor (12) mounted on the motorcycle (100). The control device (20) according to claim 1. [Claim 4] The determination unit (23) determines whether or not the necessity exists based on the output of the ambient environment sensor (11) mounted on the motorcycle (100). The control device (20) according to claim 1. [Claim 5] The determination unit (23) determines whether or not the necessity exists based on the output of the communication device (14) that communicates wirelessly with surrounding vehicles and / or road equipment. The control device (20) according to claim 1. [Claim 6] The determination unit (23) determines whether or not the necessity exists based on the map information. The control device (20) according to claim 1. [Claim 7] The determination unit (23) determines whether or not the necessity exists based on the output of the setting input device (13) that accepts setting operations by the lidar. The control device (20) according to claim 1. [Claim 8] The determination unit (23) determines whether the rider intends to release the stop or slow-speed of the motorcycle (100), The execution unit (22) executes a third vehicle speed control operation to automatically generate acceleration in the motorcycle (100) and start or accelerate the motorcycle (100) when the determination unit (23) determines that the motorcycle (100) has the intention to stop or slow down as a result of the second vehicle speed control operation. The control device (20) according to claim 1. [Claim 9] The determination unit (23) determines whether or not the intention exists based on the operating status information of the drive operation unit (120) by the rider. The control device (20) according to claim 8. [Claim 10] The determination unit (23) determines whether or not the rider has the intention based on the operating status information of the braking operation unit (110) by the rider. The control device (20) according to claim 8. [Claim 11] The execution unit (22) determines whether or not to perform the third vehicle speed control operation based on the surrounding environment information in front of the motorcycle (100). The control device (20) according to claim 8. [Claim 12] The execution unit (22) executes the third vehicle speed control operation based on supplementary information, which is the driving status information of the motorcycle (100) and / or the other vehicle (200) located in front of the motorcycle (100). The control device (20) according to claim 8. [Claim 13] The execution unit (22) executes the third vehicle speed control operation based on the positional relationship information of the motorcycle (100) and the other vehicle (200) located in front of the motorcycle (100), which is supplementary information. The control device (20) according to claim 8. [Claim 14] The execution unit (22) changes the behavior of the motorcycle (100) in the third vehicle speed control operation depending on whether the supplementary information does not meet the criteria or whether the supplementary information meets the criteria. The control device (20) according to claim 12 or 13. [Claim 15] A control method for a rider support system (1) of a motorcycle (100), comprising a braking device (30) that applies braking force to the wheel when a braking operation unit (110) is operated by the rider, and a drive device (40) that applies driving force to the wheel when a drive operation unit (120) is operated by the rider, The acquisition unit (21) of the control device (20) acquires positional relationship information of the motorcycle (100) and another vehicle (200) traveling in front of the motorcycle (100) while the motorcycle (100) is in motion (S101), The execution unit (22) of the control device (20) performs an execution step (S102, S104, S106) which controls the vehicle speed of the motorcycle (100) based on the positional relationship information acquired in the acquisition step (S101) while the rider is operating the drive operation unit (120), It is equipped with, Furthermore, the control device (20) includes a determination unit (23) that determines whether or not it is necessary to stop or slow down the motorcycle (100) while it is running, In the execution steps (S102, S104, S106), if the execution unit (22) determines in the determination step (S103) that there is a need for the first vehicle speed control operation, it executes a second vehicle speed control operation that automatically decelerates the motorcycle (100) while the rider is operating the drive operation unit (120), thereby stopping or slowing down the motorcycle (100). Control method.

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