Control device and control method

Abstract

The present invention provides a control device and a control method that can improve the safety of a saddle-ride type vehicle. In a control device (20) and a control method according to the present invention, an acquisition unit of the control device (20) acquires positional relationship information about a saddle-ride type vehicle (1) and a rear vehicle that is a vehicle positioned behind the saddle-ride type vehicle (1), an execution unit of the control device (20) executes a rider assistance operation to assist a rider in driving, and the execution unit executes, on the basis of the positional relationship information, a lane change notification operation that is a rider assistance operation to notify the rider of an instruction to change lanes.

Description

Technical Field

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

Background Art

[0002] Conventionally, various technologies for assisting the operation by a rider of a saddle-riding type vehicle such as a motorcycle 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 technology for assisting the operation by a rider, there is a technology for notifying the rider according to the traffic situation around a saddle-riding type vehicle. Here, it is difficult for the rider of a saddle-riding type vehicle to confirm the traffic situation behind the saddle-riding type vehicle. Therefore, there is a high need to improve safety by appropriately performing notification according to the traffic situation around the saddle-riding type vehicle. In addition, since a saddle-riding type vehicle is smaller than a four-wheel automobile or the like, there is a high need to improve safety.

[0005] The present invention has been made against the background of the above problems, and obtains 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 an acquisition unit that acquires positional relationship information of the saddle-type vehicle and a rear vehicle which is a vehicle located behind the saddle-type vehicle, and an execution unit that performs a rider assistance operation to assist the rider in driving, wherein the execution unit performs a lane change notification operation, which is a rider assistance operation that notifies the rider to change lanes, based on the positional relationship information.

[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 the acquisition unit of the control device acquires positional relationship information between the saddle-type vehicle and a rear vehicle which is a vehicle located behind the saddle-type vehicle, the execution unit of the control device performs a rider assistance operation to assist the rider in driving, and the execution unit performs a lane change notification operation, which is the rider assistance operation that notifies the rider to change lanes, based on the positional relationship information. [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 positional relationship information between a saddle-type vehicle and a rear vehicle located behind the saddle-type vehicle. The execution unit of the control device performs rider support operations to assist the rider in driving, and the execution unit performs a lane change notification operation, which is a rider support operation that notifies the rider to change lanes, based on the positional relationship information. As a result, the rider can be appropriately instructed to change lanes according to the traffic conditions behind the saddle-type 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 rear vehicle, which is located behind 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. [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 other saddle-type vehicles besides two-wheeled motorcycles. A saddle-type vehicle means a vehicle that a rider straddles and rides. Saddle-type vehicles include, for example, motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, etc. Motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, etc. Motorcycles include, for example, 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 and 2.

[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 a display device 11, an ambient environment sensor 12, a navigation device 13, and a control unit (ECU) 20.

[0016] The saddle-type vehicle 1 is equipped with a rider assistance system 10 that assists the rider of the saddle-type vehicle 1 in driving. The rider assistance system 10 includes the above-mentioned components (i.e., a display device 11, an ambient environment sensor 12, a navigation device 13, and a control device 20).

[0017] The display device 11 has a display function that visually displays information. Examples of the display device 11 include a liquid crystal display or a lamp. The placement of the display device 11 on the vehicle body is not particularly limited. For example, the display device 11 may be installed in front of the handlebars in the saddle-type vehicle 1, or it may be installed near the mirrors of the saddle-type vehicle 1.

[0018] The ambient environment sensor 12 detects ambient environment information related to the environment surrounding the saddle-type vehicle 1. Specifically, the ambient environment sensor 12 is located at the rear of the saddle-type vehicle 1 and detects ambient environment information behind the saddle-type vehicle 1. The ambient environment information detected by the ambient environment sensor 12 is output to the control device 20.

[0019] The ambient environment information detected by the ambient environment sensor 12 may be information related to the distance or direction to the subject located around the saddle-type vehicle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be the characteristics of the subject located around the saddle-type vehicle 1 (e.g., type of subject, shape of the subject itself, marks attached to the subject, etc.). The ambient environment sensor 12 may be, for example, a radar, Lidar sensor, ultrasonic sensor, camera, etc.

[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 navigation device 13 is a device that guides a route from the current position of the saddle-riding type vehicle 1 to the destination desired by the rider. The navigation device 13 displays various information related to route guidance (for example, the current position of the saddle-riding type vehicle 1, the driving route to be guided, the position of the destination, the distance on the driving route from the current position of the saddle-riding type vehicle 1 to the destination, and the arrival time to the destination, etc.). Further, the navigation device 13 can acquire the position information of the saddle-riding type vehicle 1 based on the information transmitted from a GPS (Global Positioning System) satellite. Also, the navigation device 13 can acquire information on the road on which the saddle-riding type vehicle 1 is traveling based on map information or the like.

[0022] The control device 20 controls the rider support system 10. For example, part or all of the control device 20 is constituted by a microcomputer, a microprocessor unit, or the like. Also, for example, part or all of the control device 20 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 20 may be, for example, one, or may be divided into a plurality.

[0023] FIG. 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in FIG. 2, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. Also, the control device 20 communicates with each device of the rider support system 10.

[0024] The acquisition unit 21 acquires information from each device of the rider support system 10 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the ambient environment sensor 12 and the navigation device 13. In this specification, information acquisition may include information extraction or generation.

[0025] The execution unit 22 performs rider assistance operations. Rider assistance operations are operations that support the rider's driving and may include various operations. In particular, the execution unit 22 performs a lane change notification operation, which is a rider assistance operation that notifies the rider to change lanes. The execution unit 22 performs the lane change notification operation, for example, by controlling the operation of the display device 11. In this embodiment, as will be described later, the safety of the saddle-type vehicle 1 is improved by the appropriate execution of the lane change notification operation.

[0026] <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.

[0027] As described above, the execution unit 22 of the control device 20 performs a lane change notification operation, which is a rider support operation that notifies the rider to change lanes. The lane change notification operation is, for example, an operation that instructs the rider to change lanes by display (in other words, recommends or suggests) a lane change. In this case, the lane change notification operation is performed using, for example, the display device 11. However, as will be described later, the lane change notification operation is not limited to this example.

[0028] In particular, the execution unit 22 performs a lane change notification operation based on the positional relationship information between the saddle-type vehicle 1 and the vehicle behind it. The vehicle behind is a vehicle located behind the saddle-type vehicle 1. Specifically, the vehicle behind is a vehicle traveling in the same lane as the saddle-type vehicle 1 and directly behind the saddle-type vehicle 1.

[0029] The above positional relationship information is acquired by the acquisition unit 21. For example, the acquisition unit 21 acquires the above positional relationship information based on the surrounding environment information detected by the surrounding environment sensor 12. The above positional relationship information may include, for example, information such as the relative position, relative distance, relative speed, relative acceleration, relative jerk, or difference in passing time of the rear vehicle 2 relative to the saddle-type vehicle 1. The above positional relationship information may also be information of other physical quantities that can be substantially converted into this information.

[0030] Figure 3 shows how a rear vehicle 2, which is located behind a saddle-type vehicle 1, is detected. In the example in Figure 3, the saddle-type vehicle 1 is traveling on a road 30. The road 30 includes a right lane L1 and a left lane L2. Lanes L1 and L2 are adjacent to each other, separated by a lane boundary LV. The saddle-type vehicle 1 is traveling in the right lane L1. Lane L1 corresponds to an overtaking lane (specifically, a lane provided for overtaking slower vehicles). The rear vehicle 2 is traveling in the right lane L1 behind the saddle-type vehicle 1. In other words, the rear vehicle 2 is located behind the saddle-type vehicle 1. In the example in Figure 3, the rear vehicle 2 is a four-wheeled automobile. However, the rear vehicle 2 may be a vehicle other than a four-wheeled automobile (for example, a large vehicle, a saddle-type vehicle, etc.).

[0031] As shown in Figure 3, the detection range 12a of the ambient environment sensor 12 extends radially from the rear of the saddle-type vehicle 1 to the rear. In the example in Figure 3, the rear vehicle 2 is located within the detection range 12a of the ambient environment sensor 12. Therefore, the acquisition unit 21 can acquire positional relationship information between the saddle-type vehicle 1 and the rear vehicle 2 based on the ambient environment information detected by the ambient environment sensor 12.

[0032] Figure 4 is a flowchart showing an example of the processing flow performed by the control device 20. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4.

[0033] When the control flow shown in Figure 4 is initiated, in step S102, the execution unit 22 determines whether the positional relationship information between the saddle-type vehicle 1 and the rear vehicle 2 satisfies the conditions for executing the lane change notification operation.

[0034] The conditions for executing the lane change notification are the conditions used to determine whether or not to execute the lane change notification. If the conditions for executing the lane change notification are not met, the lane change notification will not be executed.

[0035] The conditions for executing the lane change notification operation are, for example, that the positional relationship information described above indicates that the absolute value of the relative speed of the following vehicle 2 to the saddle-type vehicle 1 is lower than the reference speed. The reference speed is, for example, a speed near 0 km / h. When the absolute value of the relative speed described above is lower than the reference speed, the following vehicle 2 is traveling while maintaining a roughly constant distance from the saddle-type vehicle 1. In such cases, from the viewpoint of improving safety, it is preferable for the rider of the saddle-type vehicle 1 to change lanes and allow the following vehicle 2 to overtake the saddle-type vehicle 1.

[0036] As the conditions for executing the lane change notification operation, execution conditions that include additional conditions beyond those in the above example may be adopted.

[0037] For example, the conditions for executing the lane change notification operation may include information indicating that, in addition to the absolute value of the relative speed of the following vehicle 2 relative to the saddle-type vehicle 1 being lower than the reference speed, the difference in passing time is shorter than the reference time. The difference in passing time is the time it takes for the following vehicle 2 to pass the current position of the saddle-type vehicle 1 from the current point in time. The reference time is, for example, a time short enough to determine that there is a high need for the following vehicle 2 to overtake the saddle-type vehicle 1. When the absolute value of the relative speed is lower than the reference speed and the difference in passing time is shorter than the reference time, the following vehicle 2 is traveling while maintaining a roughly constant distance from the saddle-type vehicle 1, while being somewhat close to it. In such a case, there is a particularly high need to improve safety by having the following vehicle 2 overtake the saddle-type vehicle 1.

[0038] Furthermore, for example, the conditions for executing the lane change notification operation may include information indicating that, in addition to the absolute value of the relative speed of the rear vehicle 2 relative to the saddle-type vehicle 1 being lower than the reference speed, the distance between the saddle-type vehicle 1 and the rear vehicle 2 being shorter than the reference distance. The reference distance is, for example, a distance short enough to determine that there is a high need for the rear vehicle 2 to overtake the saddle-type vehicle 1. The reference distance may be changed according to the speed of the saddle-type vehicle 1. For example, the reference distance becomes shorter the lower the speed of the saddle-type vehicle 1. When the absolute value of the relative speed is lower than the reference speed and the distance between vehicles is shorter than the reference distance, the rear vehicle 2 is traveling while maintaining a roughly constant distance from the saddle-type vehicle 1, while being somewhat close to it. In such cases, there is a particularly high need to improve safety by having the rear vehicle 2 overtake the saddle-type vehicle 1.

[0039] The above describes an example in which the conditions for executing the lane change notification operation include at least the condition that the absolute value of the relative speed of the rear vehicle 2 to the saddle-type vehicle 1 is lower than the reference speed. However, the conditions for executing the lane change notification operation are not limited to the above example.

[0040] For example, the execution condition for the lane change notification operation may be information indicating that the above positional relationship information shows a higher probability of collision between the saddle-type vehicle 1 and the following vehicle 2 than the standard. The execution unit 22 can determine, for example, that the higher the relative speed of the following vehicle 2 to the saddle-type vehicle 1, the higher the probability of collision. The execution unit 22 can also determine that the shorter the difference in passing time or the shorter the distance between the saddle-type vehicle 1 and the following vehicle 2, for example. The above standard is set so as to appropriately determine, for example, that there is a high need to avoid a collision between the saddle-type vehicle 1 and the following vehicle 2. If the probability of collision between the saddle-type vehicle 1 and the following vehicle 2 is higher than the standard, from the viewpoint of improving safety, it is preferable for the rider of the saddle-type vehicle 1 to change lanes and allow the following vehicle 2 to overtake the saddle-type vehicle 1.

[0041] If the positional relationship information between the saddle-type vehicle 1 and the following vehicle 2 is determined to satisfy the conditions for executing the lane change notification operation (step S102 / YES), the process proceeds to step S103. On the other hand, if the positional relationship information between the saddle-type vehicle 1 and the following vehicle 2 is determined to not satisfy the conditions for executing the lane change notification operation (step S102 / NO), step S102 is repeated.

[0042] If the result in step S102 is YES, in step S103 the execution unit 22 determines whether the lane information of the road 30 on which the saddle-type vehicle 1 is traveling indicates that the road 30 includes multiple lanes.

[0043] Lane information is information about the lanes of road 30. Lane information includes, for example, the number of lanes included in road 30, which lanes among the lanes included in road 30 are passing lanes, and which lane the saddle-type vehicle 1 is traveling in among the lanes included in road 30. Lane information is generated by the acquisition unit 21 based on information acquired, for example, from the navigation device 13.

[0044] If the lane information is determined to indicate that road 30 contains multiple lanes (step S103 / YES), the process proceeds to step S104. On the other hand, if the lane information is determined not to indicate that road 30 contains multiple lanes (step S103 / NO), the process returns to step S102.

[0045] For example, in the example in Figure 3, road 30 includes two lanes, lane L1 and lane L2, so the result in step S103 is YES.

[0046] If the result in step S103 is YES, in step S104 the execution unit 22 determines whether the lane information of the road 30 on which the saddle-type vehicle 1 is traveling indicates that the saddle-type vehicle 1 is traveling in the overtaking lane.

[0047] If the lane information is determined to indicate that the saddle-type vehicle 1 is traveling in the overtaking lane (step S104 / YES), proceed to step S105. On the other hand, if the lane information is determined not to indicate that the saddle-type vehicle 1 is traveling in the overtaking lane (step S104 / NO), return to step S102.

[0048] For example, in the example shown in Figure 3, the lane L1 on which the saddle-type vehicle 1 is traveling is an overtaking lane, so the result in step S104 is YES.

[0049] If the result in step S104 is determined to be YES, in step S105, the execution unit 22 performs the lane change notification operation and returns to step S102. The lane change notification operation may be performed immediately when the result in step S104 is determined to be YES, or it may be performed after a predetermined time has elapsed.

[0050] As described above, the lane change notification operation is, for example, an operation that instructs the rider to change lanes by display. In this case, for example, characters, figures, or symbols indicating an instruction to change lanes, or a combination thereof, are displayed to the rider. The lane change notification operation by display is performed, for example, using a display device 11 mounted on the saddle-type vehicle 1. However, the lane change notification operation by display may also be performed using a display device mounted on the rider's clothing (for example, a helmet, etc.).

[0051] In particular, it is preferable that the execution unit 22, in the lane change notification operation via display, notifies the rider of the direction of the lane to which the saddle-type vehicle 1 will change lanes relative to the lane in which it is currently traveling. For example, in the example shown in Figure 3, the saddle-type vehicle 1 changes lanes to the left lane L2, so it is preferable that in the lane change notification operation via display, characters, figures, or symbols, or a combination thereof, indicating an instruction to change lanes to the left are displayed to the rider. As a result, the lane change notification operation instructs the rider to change lanes to the slower lane.

[0052] The above example illustrates a lane change notification function that instructs the rider to change lanes through a display. However, lane change notification functions are not limited to displays.

[0053] For example, the lane change notification operation may be an operation that instructs the rider to change lanes by vibration. One example of such an operation is the operation of vibrating the steering wheel of the saddle-type vehicle 1. In this case, a vibration generating device is provided on the steering wheel, and the execution unit 22 instructs the rider to change lanes by vibrating the vibration generating device. Since the steering wheel is a component operated by the rider when changing lanes, the instruction to change lanes is realized by vibrating the steering wheel.

[0054] In particular, it is preferable that the execution unit 22 vibrates the portion of the steering wheel on the side of the lane to which the vehicle is changing lanes in the vibration-based lane change notification operation. For example, in the example shown in Figure 3, the saddle-type vehicle 1 changes lanes to the left lane L2, so it is preferable that the execution unit 22 vibrates the left portion of the steering wheel in the vibration-based lane change notification operation. As a result, the lane change notification operation instructs the rider to change lanes to the slower lane. Alternatively, the execution unit 22 may vibrate the rider's gloves instead of the steering wheel in the vibration-based lane change notification operation.

[0055] Furthermore, for example, the lane change notification operation may be an operation that instructs the rider to change lanes by sound. In this case, for example, an audio message indicating that a lane change is to be instructed is emitted to the rider. The audible lane change notification operation is performed, for example, using an audio output device mounted on the saddle-type vehicle 1. However, the audible lane change notification operation may also be performed using an audio output device mounted on the rider's clothing (for example, a helmet, etc.).

[0056] In particular, it is preferable that the execution unit 22, in the audible lane change notification operation, notifies the rider of the direction of the lane to which the saddle-type vehicle 1 will change lanes relative to the lane in which it is currently traveling. For example, in the example shown in Figure 3, the saddle-type vehicle 1 changes lanes to the left lane L2, so it is preferable that the audible lane change notification operation emits a voice message to the rider indicating that it is instructed to change lanes to the left. As a result, the lane change notification operation instructs the rider to change lanes to the slower lane.

[0057] Furthermore, the lane change notification operation may be a combination of some or all of the following: a display-based lane change notification operation, a vibration-based lane change notification operation, and an audible lane change notification operation.

[0058] As explained above, the execution unit 22 of the control device 20 performs a lane change notification operation based on the positional relationship information between the saddle-type vehicle 1 and the rear vehicle 2. This allows the rider to be appropriately instructed to change lanes according to the traffic conditions behind the saddle-type vehicle 1. Therefore, the safety of the saddle-type vehicle 1 can be improved.

[0059] The above describes an example of processing performed by the control device 20 with reference to Figure 4. However, the processing performed by the control device 20 may be a modified version of the processing example described above.

[0060] For example, in the above processing example, the execution unit 22 performs the lane change notification operation based on lane information in addition to positional information. However, the execution unit 22 may perform the lane change notification operation without taking lane information into consideration. For example, both steps S103 and S104 may be omitted from the control flow shown in Figure 4. Furthermore, only one of steps S103 and S104 may be omitted from the control flow shown in Figure 4.

[0061] Furthermore, for example, the execution unit 22 may perform the lane change notification operation only if the lane information indicates that the vehicle density in the lane to be changed to is lower than a standard. The vehicle density may be defined as the reciprocal of the distance between two vehicles traveling near the saddle-type vehicle 1 (for example, diagonally in front) in the lane to be changed to, or as the reciprocal of the average value of multiple distances between vehicles obtained by selecting multiple pairs of vehicles from three or more vehicles traveling near the saddle-type vehicle 1 (for example, diagonally in front) in the lane to be changed to, or as the number of vehicles within a predetermined distance range of the lane to be changed to. Such operation prevents the lane change notification operation from being performed even if there is not enough space for the saddle-type vehicle 1 to safely enter the lane to be changed to.

[0062] Furthermore, in the processing example described above, an example was explained in which lane information for road 30 is generated based on information acquired from the navigation device 13. However, lane information may also be generated based on information other than that acquired from the navigation device 13. For example, lane information may be generated based on information acquired from an ambient environment sensor (for example, the ambient environment sensor 12 in Figure 1) mounted on the saddle-type vehicle 1. Such an ambient environment sensor may include an ambient environment sensor that detects ambient environment information to the side of the saddle-type vehicle 1. Also, for example, lane information may be generated based on ambient environment information acquired via wireless communication with other vehicles or infrastructure equipment.

[0063] Furthermore, for example, in the above processing example, the execution unit 22 performs a lane change notification operation based on the positional relationship information of the saddle-type vehicle 1 and the vehicle directly behind the saddle-type vehicle 1 that is traveling in the same lane as the saddle-type vehicle 1. However, the execution unit 22 may also perform a lane change notification operation based on the positional relationship information of the saddle-type vehicle 1 and the vehicles multiple vehicles behind the saddle-type vehicle 1 that are traveling in the same lane as the saddle-type vehicle 1. Such an operation is particularly useful in situations where group driving is taking place, with the saddle-type vehicle 1 traveling in a convoy with other saddle-type vehicles.

[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 positional relationship information between the saddle-type vehicle 1 and the rear vehicle 2, which is a vehicle located behind the saddle-type vehicle 1, and an execution unit 22 that performs rider support operations to assist the rider in driving. The execution unit 22 then performs a lane change notification operation, which is a rider support operation that notifies the rider to change lanes, based on the positional relationship information. As a result, the rider can be appropriately instructed to change lanes according to the traffic conditions behind the saddle-type vehicle 1. Therefore, the safety of the saddle-type vehicle 1 can be improved.

[0066] Preferably, in the control device 20, the execution unit 22 executes a lane change notification operation when the positional relationship information indicates that the absolute value of the relative speed of the rear vehicle 2 to the saddle-type vehicle 1 is lower than the reference speed. As a result, when the rear vehicle 2 is traveling while maintaining a substantially constant distance from the saddle-type vehicle 1, the rider can be instructed to change lanes. Therefore, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0067] Preferably, in the control device 20, the execution unit 22 executes a lane change notification operation when the positional relationship information indicates that, in addition to the absolute value of the relative speed of the rear vehicle 2 with respect to the saddle-type vehicle 1 being lower than the reference speed, the time difference of passage, which is the time it takes for the rear vehicle 2 to pass the current position of the saddle-type vehicle 1 from the current point in time, is shorter than the reference time. As a result, when the rear vehicle 2 is traveling while maintaining a substantially constant distance from the saddle-type vehicle 1 and is relatively close to it, the rider can be instructed to change lanes. Therefore, the safety of the saddle-type vehicle 1 can be improved more appropriately.

[0068] Preferably, in the control device 20, the execution unit 22 executes a lane change notification operation when the positional relationship information indicates that the absolute value of the relative speed of the rear vehicle 2 to the saddle-type vehicle 1 is lower than the reference speed, and that the distance between the saddle-type vehicle 1 and the rear vehicle 2 is shorter than the reference distance. As a result, when the rear vehicle 2 is traveling while maintaining a substantially constant distance from the saddle-type vehicle 1 and is somewhat close to it, the rider can be instructed to change lanes. Therefore, the safety of the saddle-type vehicle 1 can be improved more appropriately.

[0069] Preferably, in the control device 20, the execution unit 22 performs a lane change notification operation when the positional relationship information indicates that the probability of collision between the saddle-type vehicle 1 and the rear vehicle 2 is higher than a certain standard. This allows the rider to be instructed to change lanes when there is a high need to avoid a collision between the saddle-type vehicle 1 and the rear vehicle 2. Thus, the safety of the saddle-type vehicle 1 can be appropriately improved.

[0070] Preferably, in the control device 20, the execution unit 22 performs the lane change notification operation based on the lane information of the road 30 on which the saddle-type vehicle 1 is traveling, in addition to the positional relationship information. This allows the rider to be instructed to change lanes at a more appropriate timing by taking the lane information into account. Therefore, it is possible to suppress the unnecessary execution of the lane change notification operation.

[0071] Preferably, in the control device 20, the execution unit 22 executes a lane change notification operation when the lane information indicates that the road 30 includes multiple lanes. This allows the rider to be instructed to change lanes if there is a lane to which the saddle-type vehicle 1 will change lanes (i.e., a lane adjacent to the lane in which the saddle-type vehicle 1 is traveling). Thus, unnecessary execution of the lane change notification operation can be appropriately suppressed.

[0072] Preferably, in the control device 20, the execution unit 22 executes a lane change notification operation when the lane information indicates that the saddle-type vehicle 1 is traveling in the overtaking lane. Here, if the saddle-type vehicle 1 is traveling in a lane other than the overtaking lane, even if the saddle-type vehicle 1 changes lanes, it is highly unlikely that the following vehicle 2 will overtake the saddle-type vehicle 1. Therefore, by executing the lane change notification operation when the lane information indicates that the saddle-type vehicle 1 is traveling in the overtaking lane, it is possible to appropriately suppress the unnecessary execution of the lane change notification operation.

[0073] Preferably, in the control device 20, the lane change notification operation includes an operation to instruct the rider to change lanes by display. As a result, the rider can recognize the lane change instruction visually, and thus the notification of the lane change instruction to the rider is appropriately realized.

[0074] Preferably, in the control device 20, the lane change notification operation includes an operation that instructs the rider to change lanes by vibration. As a result, the rider can recognize the instruction to change lanes through touch, so that notification to the rider to change lanes is properly realized.

[0075] Preferably, in the control device 20, the lane change notification operation includes an operation to instruct the rider to change lanes by sound. As a result, the rider can recognize the lane change instruction through hearing, so that notification to instruct the rider to change lanes is properly realized.

[0076] 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]

[0077] 1 Saddle-type vehicle, 2 Rear vehicle, 10 Rider support system, 11 Display device, 12 Surrounding environment sensor, 12a Detection range, 13 Navigation device, 20 Control device, 21 Acquisition unit, 22 Execution unit, 30 Road, L1 lane, L2 lane, LV lane boundary.

Claims

1. A control device (20) for a rider assistance system (10) that assists a rider in driving a saddle-type vehicle (1), An acquisition unit (21) acquires positional relationship information between the aforementioned saddle-type vehicle (1) and the rear vehicle (2), which is located behind the aforementioned saddle-type vehicle (1). An execution unit (22) that performs rider assistance operations to assist the rider in driving, Equipped with, The execution unit (22) performs a lane change notification operation, which is a rider support operation that notifies the rider to change lanes, based on the positional relationship information. The execution unit (22) executes the lane change notification operation when the positional relationship information indicates that the probability of collision between the saddle-type vehicle (1) and the rear vehicle (2) is higher than the standard. Control device.

2. The execution unit (22) executes the lane change notification operation when the positional relationship information indicates that the absolute value of the relative speed of the rear vehicle (2) to the saddle-type vehicle (1) is lower than the reference speed. The control device according to claim 1.

3. The execution unit (22) executes the lane change notification operation when the positional relationship information indicates that, in addition to the absolute value of the relative speed being lower than the reference speed, the difference in passing time, which is the time it takes for the rear vehicle (2) to pass the current position of the saddle-type vehicle (1) from the current point in time, is shorter than the reference time. The control device according to claim 2.

4. The execution unit (22) executes the lane change notification operation when the positional relationship information indicates that, in addition to the absolute value of the relative speed being lower than the reference speed, the distance between the saddle-type vehicle (1) and the rear vehicle (2) is shorter than the reference distance. The control device according to claim 2.

5. The execution unit (22) performs the lane change notification operation based on the lane information of the road (30) on which the saddle-type vehicle (1) is traveling, in addition to the positional relationship information. The control device according to claim 1.

6. The execution unit (22) executes the lane change notification operation when the lane information indicates that the road (30) includes multiple lanes (L1, L2). The control device according to claim 5.

7. The execution unit (22) executes the lane change notification operation when the lane information indicates that the saddle-type vehicle (1) is traveling in the overtaking lane (L1). The control device according to claim 5.

8. The execution unit (22) executes the lane change notification operation when the lane information indicates that the vehicle density in the lane to be changed to (L2) is lower than the standard. The control device according to claim 5.

9. The lane change notification operation includes an operation that instructs the rider to change lanes by display, The control device according to claim 1.

10. The lane change notification operation includes an operation that instructs the rider to change lanes by vibration. The control device according to claim 1.

11. The lane change notification operation includes an operation that instructs the rider to change lanes by sound. The control device according to claim 1.

12. The lane change notification operation includes an operation to notify the rider of the direction of the lane to which the saddle-type vehicle (1) is to change lanes (L2) relative to the lane (L1) in which the saddle-type vehicle (1) is traveling. The control device according to any one of claims 1 to 11.

13. A control method for a rider assistance system (10) that assists a rider in driving a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires positional relationship information between the saddle-type vehicle (1) and the rear vehicle (2), which is located behind the saddle-type vehicle (1). The execution unit (22) of the control device (20) performs rider assistance operations to assist the rider in driving, The execution unit (22) performs a lane change notification operation, which is a rider support operation that notifies the rider to change lanes, based on the positional relationship information. The execution unit (22) executes the lane change notification operation when the positional relationship information indicates that the probability of collision between the saddle-type vehicle (1) and the rear vehicle (2) is higher than the standard. Control method.

Images