Control device and control method for a rider assistance system

Abstract

The present invention provides a control device and a control method which are capable of improving the safety of a lean vehicle. In a control device 20 and a control method according to the present invention: an acquisition unit of the control device 20 acquires, on the basis of the surrounding environmental information about the lean vehicle 1, approaching object information which is information about an approaching object that approaches a lean vehicle 1; an execution unit of the control device 20 executes a rider assistance operation for assisting an operation of a rider on the basis of the approaching object information; and a determination unit of the control device 20 determines whether there is a get-off possibility which is the possibility that the rider gets off the lean vehicle 1, and the execution unit executes the rider assistance operation when the determination unit has determined that there is the get-off possibility.

Description

Technical Field

[0001] The present invention relates to a control device and a control method capable of improving the safety of a lean vehicle.

Background Art

[0002] As a conventional technology related to a lean vehicle such as a motorcycle, there is a technology for assisting a rider's driving. 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 a motorcycle rider 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 technology for assisting a rider's driving, there is a rider assistance operation that assists a rider's driving based on approach object information, which is information about an approach object approaching a lean vehicle. For example, as such a rider assistance operation, there is an operation of issuing a warning for notifying a rider of the presence or approach of an approach object (for example, another vehicle) behind the lean vehicle. By the way, when parking a lean vehicle, the rider needs to perform complicated operations such as supporting the lean vehicle with their feet on the road surface and raising the stand member of the lean vehicle. Therefore, it is likely that the surrounding check will be neglected, and it is desired to improve safety.

[0005] The present invention has been made in view of the above problems, and aims to obtain a control device and a control method capable of improving the safety of a lean vehicle.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device for a rider support system that assists a rider in driving a lean vehicle, and comprises: an acquisition unit that acquires approaching object information, which is information about an approaching object approaching the lean vehicle, based on the surrounding environment information of the lean vehicle; and an execution unit that performs rider support operations to assist the rider in driving based on the approaching object information, and further comprises a determination unit that determines whether or not there is a possibility of the rider dismounting from the lean vehicle, and if the determination unit determines that there is a possibility of dismounting, the execution unit performs the rider support operations.

[0007] The control method according to the present invention is a control method for a rider support system that assists a rider in driving a lean vehicle, wherein an acquisition unit of a control device acquires approaching object information, which is information about an approaching object approaching the lean vehicle, based on surrounding environment information of the lean vehicle; an execution unit of the control device performs a rider support operation that assists the rider in driving based on the approaching object information; and further, a determination unit of the control device determines whether or not there is a possibility of the rider dismounting from the lean vehicle, and if the determination unit determines that there is a possibility of dismounting, the execution unit performs the rider support operation. [Effects of the Invention]

[0008] In the control device and control method according to the present invention, the acquisition unit of the control device acquires approaching object information, which is information about an approaching object approaching the lean vehicle, based on the surrounding environment information of the lean vehicle. The execution unit of the control device performs rider support operations that assist the rider in driving based on the approaching object information. Furthermore, the determination unit of the control device determines whether or not there is a possibility of the rider dismounting from the lean vehicle. If the determination unit determines that there is a possibility of dismounting, the execution unit performs rider support operations. As a result, rider support operations based on approaching object information can be performed at an appropriate timing, such as when the rider is performing an operation to park the lean vehicle, or when such an operation is about to be performed. Therefore, the safety of the lean vehicle can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing the general configuration of a lean vehicle according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. [Figure 3] This flowchart shows an example of the processing flow performed by the control device according to an embodiment of the present invention. [Figure 4] This figure shows how other vehicles are detected behind a leaning vehicle 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] Although the following description refers to a control device used in a two-wheeled motorcycle (see Lean Vehicle 1 in Figure 1), the vehicle controlled by the control device according to the present invention may be any lean vehicle, and may be other lean vehicles besides two-wheeled motorcycles. A lean vehicle is a vehicle in which the body leans to the right when turning to the right and to the left when turning to the left. Examples of lean vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, etc. Motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle is a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include electric assist bicycles, electric bicycles, etc.

[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] <Structure of a lean vehicle> The configuration of the lean vehicle 1 according to an embodiment of the present invention will be described with reference to Figures 1 and 2.

[0015] Figure 1 is a schematic diagram showing the general configuration of the lean vehicle 1. The lean vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a lean vehicle according to the present invention. As shown in Figure 1, the lean vehicle 1 comprises a front wheel 2, a rear wheel 3, a stand member 4, a display device 11, an ambient environment sensor 12, a camera 13, an inertial measurement unit (IMU) 14, a seating sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, a seating section 18, and a control unit (ECU) 20.

[0016] The lean vehicle 1 includes a rider support system 10 that supports the operation of the lean vehicle 1 by the rider. The rider support system 10 includes, among the above components, particularly, a display device 11, a surrounding environment sensor 12, a camera 13, an inertial measurement device 14, a seating sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, and a control device 20.

[0017] The display device 11 has a display function for visually displaying information. Examples of the display device 11 include a liquid crystal display or a lamp. The arrangement of the display device 11 with respect to the vehicle body is not particularly limited. For example, the display device 11 may be provided near the mirror of the lean vehicle 1, or may be provided in front of the handle among the body of the lean vehicle 1. In the example of FIG. 1, an example where the display device 11 is provided on the lean vehicle 1 is shown, but the display device 11 may be provided on a rider's wearable item (for example, a helmet).

[0018] The surrounding environment sensor 12 detects surrounding environment information regarding the environment around the lean vehicle 1. Specifically, the surrounding environment sensor 12 is provided at the rear part of the lean vehicle 1 and detects the surrounding environment information behind the lean vehicle 1. The surrounding environment information detected by the surrounding environment sensor 12 is output to the control device 20.

[0019] The surrounding environment information detected by the surrounding environment sensor 12 may be information related to the distance or orientation to a subject located around the lean vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be a feature of a subject located around the lean vehicle 1 (for example, the type of the subject, the shape of the subject itself, a mark attached to the subject, etc.). The surrounding environment sensor 12 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like.

[0020] Note that the surrounding environment information can also be detected by a surrounding environment sensor mounted on another vehicle or by infrastructure facilities. That is, the control device 20 can also acquire the surrounding environment information via wireless communication with another vehicle or infrastructure facilities.

[0021] The camera 13 images the rider of the lean vehicle 1. Specifically, the camera 13 is provided on the front side of the riding position (specifically, the assumed riding position) of the rider of the lean vehicle 1 and faces backward. That is, the camera 13 images the rider of the lean vehicle 1 from the front. However, the camera 13 may be provided on the rear side of the riding position (specifically, the assumed riding position) of the rider of the lean vehicle 1 and face forward. That is, the camera 13 may image the rider of the lean vehicle 1 from the rear. The camera 13 is not limited to a camera provided only for imaging the rider. For example, a camera provided for acquiring surrounding environment information may be used to image the rider.

[0022] The inertial measurement device 14 includes a three-axis gyro sensor and three-direction acceleration sensors, and detects the attitude of the lean vehicle 1. The inertial measurement device 14 is provided, for example, on the body of the lean vehicle 1. For example, the inertial measurement device 14 detects the lean angle of the lean vehicle 1 and outputs the detection result. The inertial measurement device 14 may detect other physical quantities that can be substantially converted into the lean angle of the lean vehicle 1. The lean angle corresponds to an angle representing the roll direction inclination of the vehicle body (specifically, the body) of the lean vehicle 1 with respect to the vertically upward direction. The inertial measurement device 14 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensors.

[0023] The seating sensor 15 detects the load of the rider applied to the seating portion 18 of the lean vehicle 1. The seating portion 18 is the portion of the lean vehicle 1 where the rider sits, and is, for example, a seat. The information indicating the load of the rider detected by the seating sensor 15 corresponds to an example of load information that is information regarding the load of the rider applied to the seating portion 18. The seating sensor 15 can detect, for example, whether a rider is on board.

[0024] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the front wheel 2). The front wheel speed sensor 16 may also detect other physical quantities that can be substantially converted to the wheel speed of the front wheel 2. The front wheel speed sensor 16 is installed on the front wheel 2.

[0025] The rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the rear wheel 3). The rear wheel speed sensor 17 may also detect other physical quantities that can be substantially converted to the wheel speed of the rear wheel 3. The rear wheel speed sensor 17 is installed on the rear wheel 3.

[0026] The control device 20 controls the rider assistance system 10. For example, part or all of the control device 20 is composed of a microcontroller, a microprocessor unit, memory, etc. Also, for example, part or all of the control device 20 may be composed of updatable components such as firmware, or it may be a program module executed by commands from a CPU, etc. The control device 20 may be a single unit, or it may be divided into multiple units.

[0027] Figure 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 2, the control device 20 includes, for example, an acquisition unit 21, an execution unit 22, and a determination unit 23. The control device 20 also communicates with each device of the LiDAR support system 10.

[0028] The acquisition unit 21 acquires information from each device of the rider support system 10 and outputs it to the execution unit 22 and the determination unit 23. For example, the acquisition unit 21 acquires information from the ambient environment sensor 12, camera 13, inertial measurement device 14, seating sensor 15, front wheel speed sensor 16, and rear wheel speed sensor 17. In this specification, information acquisition may include information extraction or generation.

[0029] The execution unit 22 performs rider assistance operations by controlling the operation of each device of the lean vehicle 1. Rider assistance operations are operations that support the rider's driving of the lean vehicle 1. In particular, the execution unit 22 performs rider assistance operations that support the rider's driving based on approaching object information, which is information about approaching objects approaching the lean vehicle 1. For example, the execution unit 22 performs an operation to notify the rider of the lean vehicle 1 of the presence or approach of another vehicle (see other vehicle 30 in Figure 4, described later) that is an approaching object behind the lean vehicle 1, as a rider assistance operation based on approaching object information. Examples of the above operations include an operation called blind spot warning, or an operation called rear approach warning.

[0030] The determination unit 23 performs various determinations. The determination results from the determination unit 23 are used in the processing performed by the execution unit 22.

[0031] <Operation of the control device> The operation of the control device 20 according to an embodiment of the present invention will be described with reference to Figures 3 and 4.

[0032] Figure 3 is a flowchart showing an example of the processing flow performed by the control device 20. Step S101 in Figure 3 corresponds to the start of the control flow shown in Figure 3.

[0033] When the control flow shown in Figure 3 is initiated, in step S102, the determination unit 23 determines whether or not the lean vehicle 1 is stopped.

[0034] The fact that lean vehicle 1 is stopped means that the vehicle speed of lean vehicle 1 is 0 km / h or approximately 0 km / h. For example, the determination unit 23 determines that lean vehicle 1 is stopped when the vehicle speed of lean vehicle 1 is lower than a reference vehicle speed near 0 km / h. The vehicle speed of lean vehicle 1 can be obtained, for example, based on the detection results of the front wheel speed sensor 16 and the rear wheel speed sensor 17.

[0035] If it is not determined in step S102 that lean vehicle 1 is stopped (step S102 / NO), step S102 is repeated. On the other hand, if it is determined that lean vehicle 1 is stopped (step S102 / YES), the process proceeds to step S103.

[0036] In step S103, the determination unit 23 determines whether or not there is a possibility of the rider dismounting from the leaning vehicle 1. In step S103, if it is determined that there is a possibility of dismounting, it corresponds to a determination of YES, and if it is determined that there is no possibility of dismounting, it corresponds to a determination of NO.

[0037] When it is determined that there is a possibility of dismounting, this includes not only cases where the rider is actually dismounting from lean vehicle 1, but also cases where it is expected that the rider will dismount from lean vehicle 1 in the near future. In other words, when it is determined that there is a possibility of dismounting, this includes not only cases where lean vehicle 1 is stopped and the rider is dismounting from lean vehicle 1, but also cases where lean vehicle 1 is stopped and the rider is still riding in lean vehicle 1.

[0038] Specifically, the determination unit 23 uses various pieces of information to determine whether or not it is possible to disembark.

[0039] For example, the determination unit 23 determines whether or not it is possible to disembark based on vehicle status information indicating the state of the leaning vehicle 1.

[0040] The determination unit 23 may, for example, use lean angle information of the leaning vehicle 1 as vehicle state information. The lean angle information is information relating to the lean angle of the leaning vehicle 1, and includes information indicating the lean angle, or information indicating the degree of change in the lean angle. The lean angle information can be obtained, for example, based on the detection result of the inertial measuring device 14. For example, the determination unit 23 may determine that there is a possibility of dismounting if the lean angle of the leaning vehicle 1 is greater than the reference lean angle. The reference lean angle is set to a value that allows for appropriate determination of whether or not the rider has dismounted from the leaning vehicle 1. Also, for example, the determination unit 23 may determine that there is a possibility of dismounting if the degree of change in the lean angle of the leaning vehicle 1 is greater than the reference degree of change. The reference degree of change is set to a value that allows for appropriate determination of whether or not the rider has dismounted from the leaning vehicle 1.

[0041] The determination unit 23 may, for example, use stand member information of the lean vehicle 1 as vehicle state information. The stand member information is information about the stand member 4 of the lean vehicle 1, and includes information indicating whether the stand member 4 is protruding towards the ground or retracted towards the vehicle body. The stand member information can be obtained, for example, based on the detection result of a sensor (not shown) that detects the state of the stand member 4. For example, the determination unit 23 may determine that there is a possibility of disembarking if the stand member 4 is protruding towards the ground.

[0042] Furthermore, for example, the determination unit 23 determines whether or not it is possible to dismount based on rider status information indicating the rider's state in the lean vehicle 1.

[0043] The determination unit 23 may, for example, use rider posture information as rider state information. Rider posture information is information about the rider's posture on the lean vehicle 1, and includes information indicating the position of parts of the rider's body relative to the lean vehicle 1, or information indicating the orientation of parts of the rider's body relative to the lean vehicle 1. Examples of such parts include the head, hands, or buttocks. Rider posture information can be obtained, for example, by applying image processing to image data captured by the camera 13. For example, the determination unit 23 may determine that there is a possibility of dismounting if the posture information obtained based on the image data indicates that the rider is performing the action of dismounting.

[0044] The determination unit 23 may, for example, use load information, which is information regarding the load of the rider on the seating area 18 of the lean vehicle 1, as rider state information. The load information includes, for example, information indicating the magnitude of the load applied by the rider, or information indicating the location on the lean vehicle 1 where the load applied by the rider is applied. The load information can be obtained, for example, based on the detection result of the seating sensor 15. For example, the determination unit 23 may determine whether or not it is possible to dismount based on the magnitude of the load applied by the rider, or a change in the location on the lean vehicle 1 where the load applied by the rider is applied. For example, the determination unit 23 may determine that it is possible to dismount if the load applied by the rider suddenly decreases.

[0045] The above describes examples of information used to determine whether or not it is possible to dismount. However, the information used to determine whether or not it is possible to dismount may be other than the information described above. For example, information about the vehicle's posture other than the lean angle may be used as vehicle state information. Also, for example, information about components other than the stand member 4 may be used as vehicle state information. Also, for example, information other than the rider's posture information and load information may be used as rider state information.

[0046] Furthermore, for example, the determination unit 23 may determine whether or not it is possible to disembark based on the position information of the leaning vehicle 1 obtained from a navigation device or the like. For example, the determination unit 23 may determine that it is possible to disembark if the leaning vehicle 1 has arrived at the destination of the route guided by the navigation device.

[0047] Furthermore, the information used to determine whether or not it is possible to disembark may be a combination of some or all of the multiple types of information described above.

[0048] If it is determined in step S103 that there is no possibility of disembarking (step S103 / NO), the process returns to step S102. On the other hand, if it is determined that there is a possibility of disembarking (step S103 / YES), the process proceeds to step S104.

[0049] In step S104, the acquisition unit 21 acquires approaching object information, which is information about an approaching object approaching the lean vehicle 1, based on the surrounding environment information of the lean vehicle 1.

[0050] As described above, the lean vehicle 1 is equipped with an ambient environment sensor 12 that detects ambient environment information behind the lean vehicle 1. In step S104, the acquisition unit 21 acquires approaching object information based on the ambient environment information detected by such ambient environment sensor 12. In this case, the acquired approaching object information includes information on approaching objects behind the lean vehicle 1.

[0051] Following step S104, in step S105, the execution unit 22 performs rider assistance operations based on approaching object information, and then returns to step S102.

[0052] In step S104, approaching object information is acquired, which includes information about objects approaching behind the leaning vehicle 1. Therefore, in step S105, the execution unit 22 performs rider assistance operations based on the approaching object information, which includes information about objects approaching behind the leaning vehicle 1.

[0053] Specifically, the execution unit 22 performs a rider assistance operation to notify the rider of the leaning vehicle 1 of the presence or approach of an object behind the leaning vehicle 1. In the above operation, the execution unit 22 gives a warning to the rider of the leaning vehicle 1 according to the presence or degree of approach of the object behind the leaning vehicle 1.

[0054] The above warning is given, for example, using the display device 11. In this case, the warning may be given by illuminating the display device 11 or by flashing the display device 11. The display color for the above warning may be the same as the display color for other warnings or may be a different color. However, the above warning may be given using an audio output device in addition to, or instead of, the display device 11. The audio output device may be provided on the lean vehicle 1, or on the rider's equipment (for example, a helmet), similar to the display device 11.

[0055] Figure 4 shows how another vehicle 30, located behind leaning vehicle 1, is detected. In the example in Figure 4, leaning vehicle 1 and other vehicle 30 are traveling in the same lane. Other vehicle 30 is located behind leaning vehicle 1. In Figure 4, an example is shown where other vehicle 30 is a four-wheeled automobile, but other vehicle 30 may be other types of vehicles such as a saddle-type vehicle. Leaning vehicle 1 is parked in front of other vehicle 30, near the edge of the lane in the direction of lane width.

[0056] As shown in Figure 4, the detection range 40 of the ambient environment sensor 12 extends radially backward from the rear of the lean vehicle 1. In the example in Figure 4, the other vehicle 30 is located within the detection range 40 of the ambient environment sensor 12. Therefore, in step S104, the acquisition unit 21 acquires information as approaching object information indicating that the other vehicle 30 is located behind the lean vehicle 1 and that the other vehicle 30 is approaching the lean vehicle 1. Accordingly, the execution unit 22 notifies the LiDAR of the lean vehicle 1 of the presence or approach of the other vehicle 30, for example, by lighting or flashing the display device 11 (or by outputting sound to the sound output device).

[0057] As explained above, the determination unit 23 determines whether or not there is a possibility of the rider dismounting from the leaning vehicle 1. If the determination unit 23 determines that there is a possibility of dismounting, the execution unit 22 executes a rider support operation. This allows the rider support operation based on approaching object information to be executed at an appropriate timing, such as when the rider is performing an action to park the leaning vehicle 1 (for example, supporting the leaning vehicle 1 with their feet on the ground and raising the stand member 4 of the leaning vehicle 1), or when such an action is about to be performed. Therefore, the safety of the leaning vehicle 1 can be improved.

[0058] Here, even after the ignition switch of the lean vehicle 1 is turned OFF, power is maintained to the control device 20 for at least a certain amount of time. Therefore, even after the rider stops the lean vehicle 1, turns off the ignition switch, and gets off the lean vehicle 1, the control device 20 can perform rider assistance operations based on approaching object information.

[0059] The above describes an example of processing performed by the control device 20 with reference to Figures 3 and 4. However, the control device 20 may perform processing other than that described above.

[0060] For example, the above describes an example in which rider assistance actions based on approaching object information are performed when it is determined that there is a possibility of dismounting. However, the acquisition unit 21 may acquire approaching object information regardless of whether the determination unit 23 has determined whether there is a possibility of dismounting. For example, the acquisition unit 21 may acquire approaching object information before the determination unit 23 determines whether there is a possibility of dismounting. In addition, for example, in addition to the example described above, rider assistance actions based on approaching object information may also be performed when the lean vehicle 1 is in motion. That is, the execution unit 22 may perform an action to warn about the presence or degree of approach of an approaching object behind the lean vehicle 1 while the lean vehicle 1 is in motion, based on the surrounding environment information acquired while the lean vehicle 1 is in motion. This can improve safety even while the lean vehicle 1 is in motion.

[0061] Furthermore, for example, the above description explained an example in which a rider support action is performed to warn the rider of leaning vehicle 1. However, in addition to, or instead of, warning the rider, a rider support action may also be performed to warn the driver of the approaching vehicle 30. In other words, a rider support action may include a warning action to warn the rider of leaning vehicle 1, and may also include a warning action to warn the driver of the approaching vehicle 30.

[0062] Furthermore, for example, the above describes an example in which the display device 11 lights up or flashes (or the audio output device outputs sound) when an approaching object is present or approaching during rider assistance operation. However, in rider assistance operation, the lighting up or flashing of the display device 11 (or the audio output device outputs sound) may be performed when no approaching object is present or approaching, and may be stopped when an approaching object is present or approaching.

[0063] Furthermore, the above example describes a rider support operation based on approaching object information, which includes information on objects approaching behind the leaning vehicle 1. However, the execution unit 22 may also perform a rider support operation based on approaching object information, which includes information on objects approaching in front of the leaning vehicle 1. For example, if the leaning vehicle 1 is equipped with an ambient environment sensor 12 that detects ambient environment information in front of the leaning vehicle 1, the execution unit 22 may use the detection results of such ambient environment sensor 12 to perform a rider support operation that warns the rider of the leaning vehicle 1 of the presence or approach of an object (e.g., another vehicle) in front of the leaning vehicle 1. Even when a rider support operation based on approaching object information, which includes information on objects approaching in front of the leaning vehicle 1, is performed, various types of information similar to those described with reference to Figure 3 may be used as information to determine whether or not it is possible to dismount.

[0064] <Effects of the control device> The effects of the control device 20 according to an embodiment of the present invention will be described.

[0065] The control device 20 includes an acquisition unit 21 that acquires approaching object information, which is information about objects approaching the lean vehicle 1, based on the surrounding environment information of the lean vehicle 1, and an execution unit 22 that performs rider support operations to assist the rider in driving based on the approaching object information. Furthermore, the control device 20 includes a determination unit 23 that determines whether or not there is a possibility of the rider dismounting from the lean vehicle 1. If the determination unit 23 determines that there is a possibility of dismounting, the execution unit 22 performs rider support operations. As a result, rider support operations based on approaching object information can be performed at an appropriate timing, such as when the rider is performing an operation to park the lean vehicle 1, or when such an operation will be performed in the near future. Therefore, the safety of the lean vehicle 1 can be improved.

[0066] Preferably, in the control device 20, the determination unit 23 determines whether or not it is possible to disembark based on vehicle state information indicating the state of the leaning vehicle 1. This ensures that the determination of whether or not it is possible to disembark is properly realized.

[0067] Preferably, in the control device 20, the vehicle state information includes lean angle information of the leaning vehicle 1. This allows for a more appropriate determination of whether or not it is possible to disembark.

[0068] Preferably, in the control device 20, the vehicle status information includes information on the stand members of the leaning vehicle 1. This allows for a more appropriate determination of whether or not it is possible to disembark.

[0069] Preferably, in the control device 20, the determination unit 23 determines whether or not it is possible to dismount based on rider status information indicating the rider's state. This ensures that the determination of whether or not it is possible to dismount is properly realized.

[0070] Preferably, in the control device 20, the rider state information includes rider posture information. This allows for a more appropriate determination of the possibility of dismounting.

[0071] Preferably, in the control device 20, the rider state information includes load information, which is information regarding the load of the rider on the seating area 18 of the lean vehicle 1. This allows for a more appropriate determination of whether or not it is possible to dismount.

[0072] Preferably, in the control device 20, the rider assistance operation includes an operation to issue a warning according to the presence or degree of approach of an object behind the leaning vehicle 1. By issuing such a warning at an appropriate timing, such as when the rider is performing the operation to park the leaning vehicle 1, or when such an operation will be performed in the near future, the safety of the leaning vehicle 1 is appropriately improved.

[0073] Preferably, in the control device 20, the lean vehicle 1 is equipped with an ambient environment sensor 12 that detects ambient environment information behind the lean vehicle 1, and the acquisition unit 21 acquires approaching object information, including information on approaching objects behind the lean vehicle 1, based on the ambient environment information detected by the ambient environment sensor 12. As a result, rider assistance operations based on approaching object information, including information on approaching objects behind the lean vehicle 1, can be executed at an appropriate timing, such as when the rider is performing the task of parking the lean vehicle 1, or when such a task will be performed in the near future. Here, approaching objects behind the lean vehicle 1 are particularly difficult for the rider to see. Therefore, by executing rider assistance operations based on approaching object information, including information on approaching objects behind the lean vehicle 1, at an appropriate timing, the safety of the lean vehicle 1 can be more effectively improved.

[0074] Preferably, in the control device 20, the execution unit 22 performs an operation to issue a warning based on the surrounding environment information acquired while the lean vehicle 1 is in motion, according to the presence or degree of approach of an object approaching from behind the lean vehicle 1. This improves safety even while the lean vehicle 1 is in motion.

[0075] Preferably, in the control device 20, the rider assistance operation includes an operation to warn the rider of the leaning vehicle 1. This allows the rider of the leaning vehicle 1 to be notified of the presence or approach of an object behind the leaning vehicle 1, thereby more effectively improving the safety of the leaning vehicle 1.

[0076] Preferably, in the control device 20, the rider assistance operation includes an operation to warn the driver of the approaching vehicle 30. This allows, for example, the driver of the other vehicle 30 to be notified of the presence or approach of the leaning vehicle 1 ahead of the other vehicle 30, thereby more effectively improving the safety of the leaning vehicle 1.

[0077] 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]

[0078] 1 Lean vehicle, 2 Front wheel, 3 Rear wheel, 4 Stand member, 10 Rider support system, 11 Display device, 12 Surrounding environment sensor, 13 Camera, 14 Inertial measurement device, 15 Seating sensor, 16 Front wheel speed sensor, 17 Rear wheel speed sensor, 18 Seating section, 20 Control device, 21 Acquisition unit, 22 Execution unit, 23 Judgment unit, 30 Other vehicles, 40 Detection range.

Claims

1. A control device (20) for a rider assistance system (10) that assists a rider in driving a lean vehicle (1), An acquisition unit (21) acquires approaching object information, which is information about an approaching object approaching the lean vehicle (1), based on the surrounding environment information of the lean vehicle (1), An execution unit (22) that performs rider support operations to support the rider's driving based on the approaching object information, Equipped with, Furthermore, the system includes a determination unit (23) that determines whether or not there is a possibility of the rider dismounting from the lean vehicle (1), If the execution unit (22) determines that there is a possibility of dismounting, the determination unit (23) will execute the rider assistance operation. The lean vehicle (1) is equipped with an ambient environment sensor (12) that detects ambient environment information behind the lean vehicle (1). The acquisition unit (21) acquires the approaching object information, including information about the approaching object behind the lean vehicle (1), based on the surrounding environment information detected by the surrounding environment sensor (12). The execution unit (22) performs an operation to issue a warning based on the surrounding environment information acquired while the lean vehicle (1) is in motion, according to the presence or degree of approach of the approaching object behind the lean vehicle (1). Control device.

2. The determination unit (23) determines whether or not there is a possibility of disembarking based on vehicle status information indicating the state of the lean vehicle (1). The control device according to claim 1.

3. The vehicle status information includes lean angle information of the lean vehicle (1), The control device according to claim 2.

4. The vehicle status information includes information on the stand member of the lean vehicle (1), The control device according to claim 2.

5. The determination unit (23) determines whether or not the rider can dismount based on rider status information indicating the rider's state. The control device according to claim 1.

6. The rider state information includes the rider's posture information. The control device according to claim 5.

7. The rider state information includes load information, which is information relating to the load of the rider on the seating portion (18) of the lean vehicle (1). The control device according to claim 5.

8. The rider assistance operation includes an operation that provides a warning according to the presence or degree of approach of the approaching object behind the leaning vehicle (1). The control device according to claim 1.

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

10. The aforementioned rider assistance action includes an action to warn the driver of the approaching vehicle (30), The control device according to any one of claims 1 to 8.

11. A control method for a rider assistance system (10) that assists a rider in driving a lean vehicle (1), The acquisition unit (21) of the control device (20) acquires approaching object information, which is information about an approaching object approaching the lean vehicle (1), based on the surrounding environment information of the lean vehicle (1). The execution unit (22) of the control device (20) performs a rider support operation that assists the rider's driving based on the approaching object information. Furthermore, the determination unit (23) of the control device (20) determines whether or not there is a possibility of the rider dismounting from the lean vehicle (1), If the execution unit (22) determines that there is a possibility of dismounting, it will execute the rider assistance operation. The lean vehicle (1) is equipped with an ambient environment sensor (12) that detects ambient environment information behind the lean vehicle (1). The acquisition unit (21) acquires the approaching object information, including information about the approaching object behind the lean vehicle (1), based on the surrounding environment information detected by the surrounding environment sensor (12). The execution unit (22) performs an operation to issue a warning based on the surrounding environment information acquired while the lean vehicle (1) is in motion, according to the presence or degree of approach of the approaching object behind the lean vehicle (1). Control method.

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