Control device and control method

Abstract

To provide a control device and a control method capable of improving the safety of a saddle-ride type vehicle.SOLUTION: A detection unit of a control device detects a blind spot vehicle and acquires running state information on the detected blind spot vehicle based on an output result of an ambient environment sensor mounted on a saddle-ride type vehicle. An execution unit of the control device executes a rider support operation based on the running state information on the blind spot vehicle. A determination unit of the control device determines whether the possibility of detecting the blind spot vehicle based on the output result of the ambient environment sensor is lower than a standard. When the determination unit determines that the possibility of detection is lower than the standard, the detection unit detects the blind spot vehicle and acquires the running state information on the detected blind spot vehicle based on vehicle-to-vehicle communication, which is communication with another vehicle via wireless communication, and the execution unit executes the rider support operation based on the running state information on the blind spot vehicle detected based on the vehicle-to-vehicle communication.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a control device and a control method capable of improving the safety of saddle-riding type vehicles.

Background Art

[0002] Conventionally, various techniques for assisting the driving of riders of saddle-riding type vehicles such as motorcycles have been proposed. For example, in Patent Document 1, based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction, a driver assistance system that warns the rider of a motorcycle that they are approaching an obstacle inappropriately is disclosed.

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 the driving of a rider, there is a rider assistance operation (for example, an operation of warning the rider of the presence or approach of a blind spot vehicle) performed based on the traveling state of a blind spot vehicle that is a vehicle located behind the left or right rear of a saddle-riding type vehicle. Here, since a saddle-riding type vehicle is smaller than surrounding vehicles such as four-wheeled automobiles, the view behind the rider of a saddle-riding type vehicle is easily blocked by other vehicles. Therefore, in a saddle-riding type vehicle, a proposal for improving safety by a rider assistance operation regarding a blind spot vehicle is desired.

[0005] The present invention has been made against the background of the above problems, and provides a control device and a control method capable of improving the safety of saddle-riding type vehicles.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device for a rider assistance system that assists a rider in driving a saddle-type vehicle, and comprises: a detection unit that detects a blind spot vehicle, which is a vehicle located to the left rear or right rear of the saddle-type vehicle, and acquires driving status information of the detected blind spot vehicle, based on the output results of an ambient environment sensor mounted on the saddle-type vehicle; and an execution unit that performs rider assistance operations to assist the rider in driving based on the driving status information of the blind spot vehicle, and further comprises a determination unit that determines whether the detection probability of the blind spot vehicle based on the output results of the ambient environment sensor is lower than a standard, and if the determination unit determines that the detection probability is lower than the standard, the detection unit detects the blind spot vehicle and acquires the driving status information of the detected blind spot vehicle based on vehicle-to-vehicle communication, which is communication with another vehicle via wireless communication, and the execution unit performs the rider assistance operations based on the driving status information of the blind spot vehicle detected based on the vehicle-to-vehicle communication.

[0007] The control method according to the present invention is a control method for a rider assistance system that assists a rider in driving a saddle-type vehicle, wherein a detection unit of a control device detects a blind spot vehicle, which is a vehicle located to the left rear or right rear of the saddle-type vehicle, and acquires driving status information of the detected blind spot vehicle, based on the output results of an ambient environment sensor mounted on the saddle-type vehicle; an execution unit of the control device performs rider assistance operations to assist the rider in driving based on the driving status information of the blind spot vehicle; further, a determination unit of the control device determines whether the detection probability of the blind spot vehicle based on the output results of the ambient environment sensor is lower than a standard; if the determination unit determines that the detection probability is lower than the standard, the detection unit detects the blind spot vehicle and acquires the driving status information of the detected blind spot vehicle based on vehicle-to-vehicle communication, which is communication with another vehicle via wireless communication; and the execution unit performs the rider assistance operations based on the driving status information of the blind spot vehicle detected based on the vehicle-to-vehicle communication. [Effects of the Invention]

[0008] In the control device and control method according to the present invention, the detection unit of the control device detects a blind spot vehicle, which is a vehicle located to the left rear or right rear of the saddle-type vehicle, based on the output results of the surrounding environment sensor mounted on the saddle-type vehicle, and acquires driving status information of the detected blind spot vehicle. The execution unit of the control device performs rider support operations to assist the rider in driving, based on the driving status information of the blind spot vehicle. Furthermore, the determination unit of the control device determines whether the probability of detecting the blind spot vehicle based on the output results of the surrounding environment sensor is lower than a standard. If the determination unit determines that the probability of detection is lower than a standard, the detection unit detects the blind spot vehicle and acquires driving status information of the detected blind spot vehicle based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication. The execution unit then performs rider support operations based on the driving status information of the blind spot vehicle detected based on vehicle-to-vehicle communication. As a result, even when it is difficult to detect a blind spot vehicle using the surrounding environment sensor mounted on the saddle-type vehicle, the blind spot vehicle can be detected and rider support operations can be performed based on the driving status information of the blind spot vehicle. Therefore, the safety of the saddle-type vehicle can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing the general configuration of a saddle-type 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 figure shows how a vehicle located in the blind spot to the left rear of a saddle-type vehicle according to an embodiment of the present invention is detected. [Figure 4] This flowchart shows an example of the processing flow performed by the control device according to an embodiment of the present invention. [Figure 5] This figure shows an example of a situation in which the probability of detecting a vehicle in a blind spot, based on the output results of the ambient environment sensor according to an embodiment of the present invention, falls below a certain standard. [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] Although the following description refers to a control device used in a two-wheeled motorcycle (see saddle-type vehicle 1 in Figure 1), the vehicle controlled by the control device according to the present invention may be any saddle-type vehicle, and may be other saddle-type vehicles besides two-wheeled motorcycles. A saddle-type vehicle means a vehicle that a rider straddles and rides on. Examples of saddle-type vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, buggies, etc. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0012] 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.

[0013] 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.

[0014] <Configuration of saddle-type vehicles> The configuration of the saddle-type vehicle 1 according to an embodiment of the present invention will be described with reference to Figures 1 to 3.

[0015] Figure 1 is a schematic diagram showing the general configuration of a saddle-type vehicle 1. The saddle-type vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a saddle-type vehicle according to the present invention. As shown in Figure 1, the saddle-type vehicle 1 includes an ambient environment sensor 11, a display unit 12, and a control unit (ECU) 13.

[0016] The straddle-type vehicle 1 includes a rider assistance system 10 that assists the rider of the straddle-type vehicle 1 in driving. The rider assistance system 10 includes the above-described components (that is, the surrounding environment sensor 11, the display unit 12, and the control device 13).

[0017] The surrounding environment sensor 11 detects surrounding environment information regarding the environment around the straddle-type vehicle 1. Specifically, the surrounding environment sensor 11 is provided at the rear part of the body of the straddle-type vehicle 1 and detects the surrounding environment information behind the straddle-type vehicle 1.

[0018] The surrounding environment information detected by the surrounding environment sensor 11 may be information related to the distance or orientation to an object located around the straddle-type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be a feature of an object located around the straddle-type vehicle 1 (for example, the type of the object, the shape of the object itself, a mark attached to the object, etc.). The surrounding environment sensor 11 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0019] The display unit 12 has a display function for visually displaying information. Examples of the display unit 12 include a liquid crystal display or a lamp. The arrangement of the display unit 12 with respect to the vehicle body is not particularly limited. For example, the display unit 12 may be provided near the mirror of the straddle-type vehicle 1, or may be provided in front of the handle in the body of the straddle-type vehicle 1.

[0020] The control device 13 controls the rider assistance system 10. For example, part or all of the control device 13 is constituted by a microcomputer, a microprocessor unit, or the like. Also, for example, part or all of the control device 13 may be constituted by something updatable such as firmware, or may be a program module or the like executed according to a command from a CPU or the like. The control device 13 may be, for example, one, or may be divided into a plurality.

[0021] FIG. 2 is a block diagram showing an example of the functional configuration of the control device 13. As shown in FIG. 2, the control device 13 includes, for example, an acquisition unit 13a, a detection unit 13b, an execution unit 13c, and a determination unit 13d. Further, the control device 13 communicates with each device of the rider assistance system 10.

[0022] The acquisition unit 13a acquires information from each device of the rider assistance system 10 and outputs it to the detection unit 13b, the execution unit 13c, and the determination unit 13d. For example, the acquisition unit 13a acquires information from the surrounding environment sensor 11. Further, the saddle-riding type vehicle 1 is provided with a communication device capable of communicating with a device outside the saddle-riding type vehicle 1, and the acquisition unit 13a can also acquire various information by performing vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication, using the communication device. In this specification, the acquisition of information may include the extraction or generation of information, etc.

[0023] The detection unit 13b detects a blind spot vehicle and acquires the running state information of the detected blind spot vehicle. The blind spot vehicle is a vehicle located at the left rear or right rear of the saddle-riding type vehicle 1. Note that a vehicle existing across from the left rear to the right rear of the saddle-riding type vehicle 1 (for example, a vehicle directly behind the saddle-riding type vehicle 1 traveling in the same lane as the saddle-riding type vehicle 1) is not included in the blind spot vehicle. The running state information of the blind spot vehicle may include various information regarding the running state of the blind spot vehicle (for example, the position, speed, or acceleration of the blind spot vehicle). The detection unit 13b basically detects a blind spot vehicle and acquires the running state information of the detected blind spot vehicle based on the output result of the surrounding environment sensor 11 mounted on the saddle-riding type vehicle 1.

[0024] Figure 3 shows how a blind spot vehicle located to the left rear of the saddle-type vehicle 1 is detected. In the example in Figure 3, the saddle-type vehicle 1 is traveling in lane L1, the rightmost of the two adjacent lanes L1 and L2. Lane L1 corresponds to the lane in which the saddle-type vehicle 1 is traveling. Lane L2 corresponds to the adjacent lane adjacent to the lane in which the saddle-type vehicle 1 is traveling (lane L1). Behind the saddle-type vehicle 1 is vehicle 2, traveling in lane L1. To the left rear of the saddle-type vehicle 1 is vehicle 3, traveling in lane L2. Vehicles 2 and 3 are four-wheeled automobiles. To the left rear of the saddle-type vehicle 1 is vehicle 4, traveling on the lane boundary LV between lane L1 and lane L2. Vehicle 4 is a two-wheeled motorcycle, passing between vehicles 2 and 3.

[0025] As shown in Figure 3, the detection range 14 of the ambient environment sensor 11 extends radially from the rear of the saddle-type vehicle 1 to the rear. In the example in Figure 3, the vehicle 4 is located within the detection range 14 of the ambient environment sensor 11. Therefore, the detection unit 13b can detect the vehicle 4 as a blind spot vehicle based on the output result of the ambient environment sensor 11 and acquire driving status information of the detected vehicle 4.

[0026] The following primarily describes an example in which a motorcycle, vehicle 4, located to the left rear of a saddle-type vehicle 1 and weaving through traffic, is detected as a blind spot vehicle. However, the blind spot vehicle to be detected is not limited to this example. For example, the blind spot vehicle to be detected may be a vehicle located to the right rear of the saddle-type vehicle 1. Also, for example, the blind spot vehicle to be detected may be a vehicle other than a motorcycle (e.g., a four-wheeled automobile). For example, in the example in Figure 3, the blind spot vehicle to be detected may be vehicle 3 traveling in the adjacent lane (lane L2) adjacent to the lane (lane L1) of the saddle-type vehicle 1.

[0027] The execution unit 13c performs rider support actions based on information about the driving status of vehicles in the blind spot. Rider support actions are actions that assist the rider in driving and may include various actions. For example, a rider support action is a warning action that warns the rider of the saddle-type vehicle 1 of the presence or approach of a vehicle in the blind spot. Such a warning action makes the rider aware of the presence or approach of a vehicle in the blind spot, thereby improving safety. The above warning action is also called blind spot warning.

[0028] The determination unit 13d performs various determinations. The detection unit 13b and the execution unit 13c perform processing based on the determination results from the determination unit 13d.

[0029] <Operation of the control device> The operation of the control device 13 according to an embodiment of the present invention will be described with reference to Figures 4 and 5.

[0030] Figure 4 is a flowchart showing an example of the processing flow performed by the control device 13. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4.

[0031] When the control flow shown in Figure 4 is initiated, in step S102, the detection unit 13b detects a vehicle in the blind spot and acquires driving status information of the detected vehicle in the blind spot based on the output result of the surrounding environment sensor 11. In the example of Figure 3 described above, the detection unit 13b, for example, detects vehicle 4 as a vehicle in the blind spot based on the output result of the surrounding environment sensor 11 and acquires driving status information of the detected vehicle 4.

[0032] Following step S102, in step S103, the execution unit 13c performs a warning operation as a rider assistance operation to warn the rider of the presence or approach of a vehicle in the blind spot, based on the driving status information of the vehicle in the blind spot detected in step S102 based on the output result of the surrounding environment sensor 11. In the example of Figure 3 described above, the execution unit 13c performs a warning operation to warn the rider of the saddle-type vehicle 1 of the presence or approach of vehicle 4, based on the driving status information of vehicle 4 detected as a vehicle in the blind spot based on the output result of the surrounding environment sensor 11.

[0033] In step S103, the execution unit 13c performs a warning operation if it determines, for example, that a warning to the rider is necessary based on the driving status information of a vehicle in the blind spot. In the warning operation, the execution unit 13c warns the rider, for example, by displaying it on the display unit 12.

[0034] The above-mentioned driving condition information used in step S103 may include, for example, information on the distance between the saddle-type vehicle 1 and the blind spot vehicle, information on the time difference between the saddle-type vehicle 1 and the blind spot vehicle, and information on the relative speed of the blind spot vehicle with respect to the saddle-type vehicle 1. The time difference corresponds to the value obtained by dividing the distance between vehicles by the relative speed.

[0035] The execution unit 13c can determine whether a warning to the rider is necessary based on information about the distance between the saddle-type vehicle 1 and the vehicle in the blind spot. For example, the execution unit 13c can determine that a warning to the rider is necessary if the distance between the saddle-type vehicle 1 and the vehicle in the blind spot is shorter than the standard distance. The information about the distance between the saddle-type vehicle 1 and the vehicle in the blind spot may be a straight-line distance, a distance in the width direction of the road, or a distance in the direction along the extension of the road.

[0036] Furthermore, the execution unit 13c can determine whether or not a warning to the rider is necessary based on information regarding the time difference between the saddle-type vehicle 1 and the vehicle in the blind spot. For example, the execution unit 13c can determine that a warning to the rider is necessary if the time difference between the saddle-type vehicle 1 and the vehicle in the blind spot is shorter than the standard time difference.

[0037] Furthermore, the execution unit 13c can determine whether or not a warning to the rider is necessary based on information about the relative speed of the blind spot vehicle with respect to the saddle-type vehicle 1. For example, the execution unit 13c can determine that a warning to the rider is necessary if the relative speed of the blind spot vehicle with respect to the saddle-type vehicle 1 is higher than the reference speed.

[0038] Furthermore, in determining whether a warning to the rider is necessary, the execution unit 13c may use only some of the information among the following: information on the distance between the saddle-type vehicle 1 and the blind spot vehicle, information on the time difference between the saddle-type vehicle 1 and the blind spot vehicle, and information on the relative speed of the blind spot vehicle to the saddle-type vehicle 1; all of the information; or information other than these.

[0039] Following step S103, in step S104, the determination unit 13d determines whether the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard. The above standard is set so as to determine that the probability of detection is so low that it is difficult to perform a rider assistance operation (e.g., a warning operation) based on the output results of the surrounding environment sensor 11, or that even if a rider assistance operation is performed, it is difficult to improve safety.

[0040] In step S104, the determination unit 13d determines, for example, that if at least a portion of the area within the detection range 14 of the surrounding environment sensor 11 where a blind spot vehicle may exist (specifically, the area to the left rear and right rear of the saddle-type vehicle 1) is obstructed by another vehicle located behind the saddle-type vehicle 1, the probability of detecting a blind spot vehicle based on the output of the surrounding environment sensor 11 is lower than the standard.

[0041] Figure 5 shows an example of a situation in which the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 falls below the standard. In the example of Figure 5, similar to the example in Figure 3 described above, the saddle-type vehicle 1 is traveling in the rightmost lane L1 of the two adjacent lanes L1 and L2. Also, similar to the example in Figure 3 described above, vehicle 3 traveling in lane L2 is located to the left rear of saddle-type vehicle 1, and vehicle 4 traveling on the lane boundary LV between lane L1 and lane L2 is located to the left rear of saddle-type vehicle 1.

[0042] In the example shown in Figure 5, vehicle 5, traveling in lane L1, is positioned behind the saddle-type vehicle 1, approaching it. Vehicle 5 is a large truck. In the example shown in Figure 5, the area within the detection range 14 of the surrounding environment sensor 11 where a vehicle in the blind spot to the left rear of the saddle-type vehicle 1 may exist is obscured by vehicle 5, which is a large truck, behind the saddle-type vehicle 1. As a result, the detection unit 13b finds it difficult to detect, for example, vehicle 4, which is in the blind spot to the left rear of the saddle-type vehicle 1, based on the output of the surrounding environment sensor 11. In such a case, in step S104, the determination unit 13d determines that the probability of detecting a blind spot vehicle based on the output of the surrounding environment sensor 11 is lower than the standard.

[0043] The determination unit 13d determines, for example, whether the probability of detecting a vehicle in a blind spot based on the output of the surrounding environment sensor 11 is lower than a standard, based on the vehicle's position information detected based on the output of the surrounding environment sensor 11. In the example in Figure 5, the detection unit 13b can detect vehicle 5 and obtain the position information of vehicle 5 based on the output of the surrounding environment sensor 11. Then, the determination unit 13d can determine the positional relationship between the saddle-type vehicle 1 and vehicle 5 using the position information of vehicle 5 detected based on the output of the surrounding environment sensor 11. Therefore, based on the positional relationship between the saddle-type vehicle 1 and vehicle 5, the determination unit 13d can determine that vehicle 5 is a vehicle traveling in lane L1 behind the saddle-type vehicle 1. In other words, the determination unit 13d can determine that vehicle 5 is not a vehicle in a blind spot. Therefore, the determination unit 13d determines that the area within the detection range 14 of the surrounding environment sensor 11 where a blind spot vehicle to the left rear of the saddle-type vehicle 1 may exist is blocked by a vehicle 5 that is not a blind spot vehicle, and can determine that the probability of detecting a blind spot vehicle based on the output results of the surrounding environment sensor 11 is lower than the standard.

[0044] Furthermore, the determination unit 13d may determine whether the probability of detecting a vehicle in a blind spot based on the output results of the ambient environment sensor 11 is lower than the standard, without relying on the vehicle's position information detected based on the output results of the ambient environment sensor 11. For example, the determination unit 13d may determine whether the probability of detecting a vehicle in a blind spot based on the output results of the ambient environment sensor 11 is lower than the standard, based on the intensity of the detection signal from the ambient environment sensor 11. In this case, for example, if the intensity of the detection signal from the ambient environment sensor 11 is excessively high, the determination unit 13d may determine that a large vehicle is located behind the saddle-type vehicle 1, and that at least a portion of the area within the detection range 14 of the ambient environment sensor 11 where a vehicle in a blind spot may exist is blocked by the large vehicle.

[0045] Furthermore, the determination unit 13d may determine whether the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard, without relying on the output results of the surrounding environment sensor 11. For example, the determination unit 13d may determine whether the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard, based on traffic congestion information. In this case, the determination unit 13d can determine, for example, that if the road on which the saddle-type vehicle 1 is traveling is excessively congested, the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard.

[0046] In step S104 of Figure 4, if it is not determined that the probability of detecting a vehicle in a blind spot based on the output of the surrounding environment sensor 11 is lower than the standard (step S104 / NO), the process returns to step S102. On the other hand, if it is determined that the probability of detecting a vehicle in a blind spot based on the output of the surrounding environment sensor 11 is lower than the standard (step S104 / YES), the process proceeds to step S105.

[0047] In step S105, the detection unit 13b detects vehicles in the blind spot and acquires information on the driving status of the detected vehicles in the blind spot, based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication.

[0048] In the above vehicle-to-vehicle communication, the other vehicle that is the target of communication is, for example, another vehicle located within a predetermined distance centered on the saddle-type vehicle 1. The control device 13 can acquire information about the surrounding environment around the saddle-type vehicle 1 without using the surrounding environment sensor 11 of the saddle-type vehicle 1 by performing vehicle-to-vehicle communication with the other vehicle equipped with an ambient environment sensor. Therefore, the detection unit 13b can detect a vehicle in the blind spot and acquire information about the driving status of the detected vehicle in the blind spot based on the vehicle-to-vehicle communication. In the example in Figure 5, for example, the detection unit 13b can detect vehicle 4 as a vehicle in the blind spot based on the output result of the vehicle-to-vehicle communication and acquire information about the driving status of the detected vehicle 4.

[0049] The detection unit 13b may acquire information on the driving status of a vehicle in the blind spot by using information extracted from the information acquired through vehicle-to-vehicle communication based on the location information of the transmitting vehicle. In the example in Figure 5, vehicle 6 is located in front of vehicle 3 in lane L2. Vehicle 6 is a four-wheeled automobile. Vehicle 3 is located to the left of vehicle 4, which is detected as a vehicle in the blind spot. Therefore, the straight-line distance between vehicle 3 and vehicle 4 is shorter than the straight-line distance between vehicle 6 and vehicle 4.

[0050] If the detection unit 13b can acquire information from multiple vehicles via vehicle-to-vehicle communication, for example, it may extract information transmitted from a vehicle close to the vehicle in the blind spot and use the extracted information to acquire information about the driving status of the vehicle in the blind spot. In the example in Figure 5, if the detection unit 13b can acquire information from vehicles 3 and 6 via vehicle-to-vehicle communication, it may extract information transmitted from vehicle 3, which is close to vehicle 4 detected as a vehicle in the blind spot, and use the extracted information to acquire information about the driving status of vehicle 4. Here, the information transmitted from vehicle 3, which is close to vehicle 4, is more accurate than the information transmitted from vehicle 6, which is farther away from vehicle 4. Therefore, by using information transmitted from vehicle 3, which is close to vehicle 4, information about the driving status of vehicle 4 can be acquired with high accuracy.

[0051] Furthermore, the detection unit 13b may acquire information on the driving status of a vehicle in a blind spot by using information transmitted from the vehicle in the blind spot. In the example in Figure 5, if the detection unit 13b can acquire information from the vehicle 4 detected as a vehicle in a blind spot via vehicle-to-vehicle communication, it may acquire information on the driving status of vehicle 4 by using information transmitted from vehicle 4. Here, the information transmitted from vehicle 4 is more accurate than information transmitted from vehicles other than vehicle 4. Therefore, by using information transmitted from vehicle 4, the driving status information of vehicle 4 can be acquired with high accuracy.

[0052] Furthermore, among the information received by the control device 13 through vehicle-to-vehicle communication, the information transmitted from the blind spot vehicle may be information such as the absolute position and absolute speed of the blind spot vehicle, or it may be information such as the relative position and relative speed of the blind spot vehicle with respect to the saddle-type vehicle 1. Also, among the information received by the control device 13 through vehicle-to-vehicle communication, the information transmitted from a vehicle other than the blind spot vehicle may be, for example, information such as the absolute position and absolute speed of the blind spot vehicle. The detection unit 13b may acquire the information obtained through vehicle-to-vehicle communication itself as the driving state information of the blind spot vehicle, or it may acquire secondary information generated using the information obtained through vehicle-to-vehicle communication as the driving state information of the blind spot vehicle.

[0053] Following step S105, in step S106, the determination unit 13d determines whether it was able to detect a vehicle in the blind spot and acquire information on the driving status of the detected vehicle. If it was able to detect a vehicle in the blind spot and acquire information on the driving status of the detected vehicle, the execution unit 13c can perform rider support operations based on vehicle-to-vehicle communication (for example, a warning operation to the rider). In this case, step S106 is determined to be YES. On the other hand, if a vehicle in the blind spot cannot be detected and information on the driving status of the vehicle in the blind spot cannot be acquired, the execution unit 13c cannot perform rider support operations based on vehicle-to-vehicle communication. Also, if a vehicle in the blind spot is detected but information on the driving status of the detected vehicle in the blind spot cannot be acquired, the execution unit 13c cannot perform rider support operations based on vehicle-to-vehicle communication. In these cases, step S106 is determined to be NO.

[0054] If it is determined that detection of a vehicle in the blind spot and acquisition of the driving status information of the detected vehicle in the blind spot have been successful (step S106 / YES), the process proceeds to step S107. On the other hand, if it is determined that detection of a vehicle in the blind spot and acquisition of the driving status information of the detected vehicle in the blind spot have not been successful (step S106 / NO), the process proceeds to step S108. Note that if vehicle-to-vehicle communication itself cannot be performed, the vehicle in the blind spot cannot be detected and the driving status information of the vehicle in the blind spot cannot be acquired, so the result in step S106 is NO.

[0055] If YES is determined in step S106, in step S107, the execution unit 13c performs a warning operation as a rider support operation to warn the rider of the saddle-type vehicle 1 of the presence or approach of a blind spot vehicle based on the driving status information of the blind spot vehicle detected in step S105 based on vehicle-to-vehicle communication, and then returns to step S104.

[0056] In step S107, the execution unit 13c performs a warning operation if it determines, for example, that a warning to the rider is necessary based on the driving status information of the vehicle in the blind spot, similar to step S103. In the example in Figure 5, the execution unit 13c performs a warning operation to warn the rider of the saddle-type vehicle 1 of the presence or approach of vehicle 4, based on the driving status information of vehicle 4 detected as a vehicle in the blind spot based on vehicle-to-vehicle communication.

[0057] If NO is determined in step S106, in step S108, the execution unit 13c performs a notification operation to inform the rider that the rider assistance operation cannot be performed based on vehicle-to-vehicle communication (i.e., that the rider assistance operation cannot be performed based on vehicle-to-vehicle communication), and returns to step S104. In this notification operation, the execution unit 13c notifies the rider, for example, by display on the display unit 12.

[0058] As described above, in this embodiment, if the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output result of the surrounding environment sensor 11 is lower than the standard, the detection unit 13b detects the vehicle in the blind spot and acquires driving status information of the detected vehicle in the blind spot based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication, and the execution unit 13c performs rider assistance operations based on the driving status information of the vehicle in the blind spot detected based on vehicle-to-vehicle communication.

[0059] As a result, even when it is difficult to detect a vehicle in a blind spot using the surrounding environment sensor 11 mounted on the saddle-type vehicle 1, the system can detect the vehicle in the blind spot and perform rider assistance actions based on the vehicle's driving status information. For example, in the example shown in Figure 5, a large truck, vehicle 5, obstructs part of the detection range 14 of the surrounding environment sensor 11, making it difficult to detect vehicle 4 as a vehicle in a blind spot using the surrounding environment sensor 11. In this case, by using vehicle-to-vehicle communication, vehicle 4 can be detected as a vehicle in a blind spot, and rider assistance actions (e.g., warning actions for the rider) can be performed based on the detected vehicle 4's driving status information. Therefore, the safety of the saddle-type vehicle 1 can be improved.

[0060] The above describes an example of the processing performed by the control device 13 with reference to the flowchart in Figure 4. However, the processing performed by the control device 13 is not limited to the above example, and the control device 13 may perform processing other than that described above.

[0061] For example, the above describes an example in which, when the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard, a notification operation is performed to inform the rider that the rider assistance operation cannot be performed based on vehicle-to-vehicle communication. However, the execution unit 13c may also perform a notification operation to inform the rider that the rider assistance operation can be performed based on vehicle-to-vehicle communication when the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard. For example, when the result is determined to be YES in step S106 in Figure 4, the execution unit 13c may, in addition to the processing in step S107, perform a notification operation to inform the rider that the rider assistance operation can be performed based on vehicle-to-vehicle communication (i.e., that the rider assistance operation can be performed based on vehicle-to-vehicle communication, or that it will be performed). In this notification operation, the execution unit 13c notifies the rider, for example, by displaying it on the display unit 12.

[0062] Furthermore, for example, the above describes an example in which a warning operation is performed as a rider support operation to warn the rider of the saddle-type vehicle 1 based on the driving status information of a vehicle in the blind spot. In the warning operation to the rider of the saddle-type vehicle 1, the rider is warned of the presence or approach of a vehicle in the blind spot. However, the execution unit 13c may also perform a warning operation as a rider support operation to warn the driver of the vehicle in the blind spot based on the driving status information of the vehicle in the blind spot. In the warning operation to the driver of the vehicle in the blind spot, the driver of the vehicle in the blind spot is warned that the vehicle they are driving corresponds to a vehicle in the blind spot for the saddle-type vehicle 1.

[0063] <Effects of the control device> The effects of the control device 13 according to an embodiment of the present invention will be described below.

[0064] In the control device 13, if the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than the standard, the detection unit 13b detects the vehicle in the blind spot and acquires information on the driving state of the detected vehicle in the blind spot based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication. The execution unit 13c then executes rider assistance operations based on the driving state information of the vehicle in the blind spot detected based on the vehicle-to-vehicle communication. As a result, even if it is difficult to detect a vehicle in the blind spot using the surrounding environment sensor 11 mounted on the saddle-type vehicle 1, the vehicle in the blind spot can be detected and rider assistance operations can be executed based on the driving state information of the vehicle in the blind spot. Therefore, the safety of the saddle-type vehicle 1 can be improved.

[0065] Preferably, in the control device 13, the determination unit 13d determines, based on the vehicle position information detected based on the output results of the surrounding environment sensor 11, whether the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than a standard. This allows for an appropriate determination, for example, whether at least a portion of the area within the detection range 14 of the surrounding environment sensor 11 where a vehicle in a blind spot may exist is obstructed by another vehicle located behind the saddle-type vehicle 1. Thus, it is possible to appropriately determine whether the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than a standard.

[0066] Preferably, in the control device 13, if the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than a standard, the execution unit 13c performs a notification operation to inform the rider that the rider assistance operation cannot be performed based on vehicle-to-vehicle communication. This allows the rider to be notified that the rider assistance operation cannot be performed in situations such as when vehicle-to-vehicle communication itself could not be performed, thereby prompting the rider to pay attention to what is behind them.

[0067] Preferably, in the control device 13, if the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than a standard, the execution unit 13c performs a notification operation to inform the rider that rider assistance operation will be performed based on vehicle-to-vehicle communication. This allows the rider to be notified that rider assistance operation can be performed, but rider assistance operation based on the output results of the surrounding environment sensor 11 cannot be performed, thereby prompting the rider to pay attention to what is behind them.

[0068] Preferably, in the control device 13, when the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output results of the surrounding environment sensor 11 is lower than a standard, the detection unit 13b acquires information on the driving state of the vehicle in the blind spot by using information extracted from the information acquired by vehicle-to-vehicle communication based on the location information of the transmitting vehicle. As a result, highly accurate information can be used as the information used to acquire information on the driving state of the vehicle in the blind spot, thus enabling accurate acquisition of information on the driving state of the vehicle in the blind spot.

[0069] Preferably, in the control device 13, when the determination unit 13d determines that the probability of detecting a vehicle in a blind spot based on the output result of the surrounding environment sensor 11 is lower than the standard, the detection unit 13b acquires information on the driving state of the vehicle in a blind spot by using information transmitted from the vehicle in the blind spot. As a result, highly accurate information can be used as the information used to acquire information on the driving state of the vehicle in a blind spot, thus enabling accurate acquisition of information on the driving state of the vehicle in a blind spot.

[0070] Preferably, in the control device 13, the blind spot vehicle includes vehicle 4 which is weaving through traffic. This allows the control device 13 to perform rider assistance operations based on the driving status information of vehicle 4, which is a blind spot vehicle weaving through traffic. For example, the presence or approach of vehicle 4, which is a blind spot vehicle weaving through traffic, can be warned to the rider of the saddle-type vehicle 1, allowing the rider to become aware of it. Thus, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0071] Preferably, in the control device 13, the blind spot vehicle includes a vehicle 3 traveling in an adjacent lane (lane L2) adjacent to the travel lane (lane L1) of the saddle-type vehicle 1. This allows the control device 13 to perform rider assistance operations based on the travel status information of the vehicle 3, which is a blind spot vehicle traveling in the adjacent lane (lane L2). For example, the presence or approach of the vehicle 3, which is a blind spot vehicle traveling in the adjacent lane (lane L2), can be warned to the rider of the saddle-type vehicle 1, allowing the rider to become aware of it. Thus, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0072] Preferably, in the control device 13, the rider assistance operation includes a warning operation to the rider of the saddle-type vehicle 1. This warns the rider of the saddle-type vehicle 1 of the presence or approach of a vehicle in a blind spot, allowing the rider to become aware of it. Thus, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0073] Preferably, in the control device 13, the rider assistance operation includes a warning operation to the driver of the vehicle in the blind spot. This warns the driver of the vehicle in the blind spot that the vehicle they are driving is in the blind spot of the saddle-type vehicle 1, and allows the driver of the vehicle in the blind spot to recognize this. Therefore, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0074] The present invention is not limited to the descriptions of embodiments. For example, only a portion of the embodiments may be implemented. [Explanation of Symbols]

[0075] 1 Saddle-type vehicle, 2 Vehicle, 3 Vehicle, 4 Vehicle, 5 Vehicle, 6 Vehicle, 10 Rider support system, 11 Surrounding environment sensor, 12 Display unit, 13 Control device, 13a Acquisition unit, 13b Detection unit, 13c Execution unit, 13d Judgment unit, 14 Detection range, L1 lane, L2 lane, LV lane boundary.

Claims

1. A control device (13) for a rider assistance system (10) that assists a rider in driving a saddle-type vehicle (1), A detection unit (13b) detects blind spot vehicles (3, 4) located to the left rear or right rear of the saddle-type vehicle (1) based on the output of the surrounding environment sensor (11) mounted on the saddle-type vehicle (1), and acquires driving status information of the detected blind spot vehicles (3, 4). An execution unit (13c) performs rider assistance actions to support the rider's driving based on the driving status information of the blind spot vehicles (3, 4), Equipped with, Furthermore, after the rider assistance operation is performed, the system includes a determination unit (13d) that determines whether the probability of detecting the blind spot vehicles (3, 4) based on the output results of the surrounding environment sensor (11) is lower than a standard. If the determination unit (13d) determines that the detection probability is lower than the criterion, The detection unit (13b) detects the blind spot vehicles (3, 4) and acquires the driving status information of the detected blind spot vehicles (3, 4) based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication. The execution unit (13c) executes the rider assistance operation based on the driving status information of the blind spot vehicles (3, 4) detected based on the vehicle-to-vehicle communication. Control device.

2. The determination unit (13d) determines whether the detection probability is lower than the criterion based on the vehicle's position information detected based on the output result of the surrounding environment sensor (11). The control device according to claim 1.

3. If the determination unit (13d) determines that the detectability is lower than the criterion, the execution unit (13c) performs a notification operation to notify the rider that the rider assistance operation cannot be performed based on the vehicle-to-vehicle communication. The control device according to claim 1 or 2.

4. If the determination unit (13d) determines that the detectability is lower than the criterion, the execution unit (13c) performs a notification operation to notify the rider of the execution of the rider support operation based on the vehicle-to-vehicle communication. The control device according to any one of claims 1 to 3.

5. When the detection unit (13b) determines that the detection probability is lower than the criterion, the determination unit (13d) uses information extracted from the information acquired by the vehicle-to-vehicle communication based on the location information of the transmitting vehicle to acquire the driving status information of the blind spot vehicles (3, 4). The control device according to any one of claims 1 to 4.

6. When the detection unit (13b) determines that the detection probability is lower than the criterion, it acquires the driving status information of the blind spot vehicles (3, 4) by using information transmitted from the blind spot vehicles (3, 4). The control device according to any one of claims 1 to 5.

7. The aforementioned vehicles in the blind spot (3, 4) include the vehicle (4) that is weaving through traffic. The control device according to any one of claims 1 to 6.

8. The aforementioned blind spot vehicles (3, 4) include a vehicle (3) traveling in an adjacent lane (L2) adjacent to the travel lane (L1) of the saddle-type vehicle (1), The control device according to any one of claims 1 to 7.

9. The rider assistance operation includes a warning operation to the rider, The control device according to any one of claims 1 to 8.

10. The aforementioned rider assistance action includes a warning action to the driver of the blind spot vehicle (3, 4), The control device according to any one of claims 1 to 9.

11. A control method for a rider assistance system (10) that assists a rider in driving a saddle-type vehicle (1), The detection unit (13b) of the control device (13) detects blind spot vehicles (3, 4) located to the left rear or right rear of the saddle-type vehicle (1) based on the output results of the surrounding environment sensor (11) mounted on the saddle-type vehicle (1), and acquires driving status information of the detected blind spot vehicles (3, 4). The execution unit (13c) of the control device (13) performs rider support operations to assist the rider in driving, based on the driving status information of the blind spot vehicles (3, 4). Furthermore, after the rider assistance operation is performed, the determination unit (13d) of the control device (13) determines whether the likelihood of detecting the blind spot vehicles (3, 4) based on the output results of the surrounding environment sensor (11) is lower than the standard. If the determination unit (13d) determines that the detection probability is lower than the criterion, The detection unit (13b) detects the blind spot vehicles (3, 4) and acquires the driving status information of the detected blind spot vehicles (3, 4) based on vehicle-to-vehicle communication, which is communication with other vehicles via wireless communication. The execution unit (13c) executes the rider assistance operation based on the driving status information of the blind spot vehicles (3, 4) detected based on the vehicle-to-vehicle communication. Control method.

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