Control device and control method

Abstract

The present invention provides a control device and a control method with which it is possible to appropriately assist the operation of a leaning vehicle by a rider. In a control device (19) and a control method according to the present invention, an identification unit of the control device (19) performs at least the first process in a position identification process in which the following are performed: a first process for identifying the relative position of a leaning vehicle (1) with respect to an object in the periphery of the leaning vehicle (1) on the basis of the detection result from a peripheral environment sensor (14) mounted on the leaning vehicle (1); and a second process for identifying the absolute position of the leaning vehicle (1) on the basis of the result of a comparison between a map and the relative position identification result. An execution unit of the control device (19) executes a rider assistance operation for assisting the operation by the rider, an acquisition unit of the control device (19) acquires reliability information that is information relating to the reliability of the position identification process, and the execution unit executes the rider assistance operation on the basis of the reliability information.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device and control method

[0003] [Technical Field]

[0004]

[0001] This disclosure relates to a control device and a control method that can appropriately assist a rider in driving a lean vehicle.

[0005] [Background technology]

[0006]

[0002] Various technologies have been proposed to assist riders of lean vehicles such as motorcycles in driving. For example, Patent Document 1 discloses a driver assistance system that warns a motorcycle rider that he or she is inappropriately approaching an obstacle based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel.

[0007] [Prior art documents]

[0008] [Patent documents]

[0009] 【0 0 0 3】

[0010] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-116882

[0011] Summary of the Invention

[0012] [Problem to be solved by the invention]

[0013]

[0004] Incidentally, there is a technology for assisting a rider in driving that uses a process for identifying the absolute position of a lean vehicle based on the results of identifying the relative position of the lean vehicle with respect to objects around the lean vehicle and comparing that with a map. In utilizing such a technology, a new proposal for appropriately assisting a rider in driving a lean vehicle is desired.

[0014]

[0005] The present invention has been made against the background of the above-mentioned problems, and aims to provide a control device and a control method that can appropriately assist the rider in driving a lean vehicle.

[0015] [Means for solving the problem]

[0016]

[0006] The control device according to the present invention is a control device for a rider assistance system that assists a rider of a lean vehicle in driving, and comprises: an identification unit that performs at least a first process in a position identification process that identifies a relative position of the lean vehicle with respect to objects around the lean vehicle based on the detection results of an ambient environment sensor mounted on the lean vehicle; and a second process that identifies an absolute position of the lean vehicle based on the results of comparing the identification result of the relative position with a map; and an execution unit that executes a rider assistance operation that assists the rider in driving, and further comprises an acquisition unit that acquires reliability information that is information regarding the reliability of the position identification process, and the execution unit executes the rider assistance operation based on the reliability information.

[0017]

[0007] A control method according to the present invention is a control method for a rider assistance system that assists a rider of a lean vehicle in driving, wherein an identification unit of a control device performs at least a first process of identifying a relative position of the lean vehicle with respect to objects around the lean vehicle based on the detection result of an ambient environment sensor mounted on the lean vehicle, and a second process of identifying an absolute position of the lean vehicle based on the result of comparing the identification result of the relative position with a map, and wherein an execution unit of the control device performs a rider assistance operation that assists the rider in driving, and further, an acquisition unit of the control device acquires reliability information that is information regarding the reliability of the position identification process, and the execution unit performs the rider assistance operation based on the reliability information.

[0018] [Effects of the Invention]

[0019]

[0008] In the control device and control method according to the present invention, an identification unit of the control device performs at least the first process of a position identification process that performs a first process of identifying the relative position of the lean vehicle with respect to objects around the lean vehicle based on the detection results of an ambient environment sensor mounted on the lean vehicle, and a second process of identifying the absolute position of the lean vehicle based on the results of comparing the identification result of the relative position with a map. An execution unit of the control device executes a rider assistance operation that assists the rider in driving. Furthermore, an acquisition unit of the control device acquires reliability information that is information related to the reliability of the position identification process, and the execution unit executes the rider assistance operation based on the reliability information. This makes it possible to assist the rider of the lean vehicle in driving according to the reliability of the position identification process. Therefore, it is possible to appropriately assist the rider in driving the lean vehicle.

[0020] [Brief explanation of the drawings]

[0021] [ 0 0 0 9 ]

[0022] [Figure 1] Schematic diagram showing the general configuration of a lean vehicle according to an embodiment of the present invention.

[0023] [Figure 2] A block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0024] [Figure 3] A block diagram showing an example of the functional configuration of a server relating to an embodiment of the present invention.

[0025] [Figure 4] A diagram showing a lean vehicle according to an embodiment of the present invention performing weaving through obstacles.

[0026] [Figure 5] A diagram showing a group including a lean vehicle according to an embodiment of the present invention traveling in a group.

[0027] [Figure 6I] A flowchart showing the flow of a first example of processing performed by a control device according to an embodiment of the present invention.

[0028] [Figure 7I] A flowchart showing the flow of a second example of processing performed by a control device according to an embodiment of the present invention.

[0029] [Figure 8] A flowchart showing the flow of a third example of processing performed by a control device according to an embodiment of the present invention.

[0030] [Figure 9I] A flowchart showing the flow of a fourth example of processing performed by a control device according to an embodiment of the present invention.

[0031] [Figure 10] A flowchart showing the flow of a fifth example of processing performed by a control device according to an embodiment of the present invention.

[0032] DETAILED DESCRIPTION OF THE INVENTION

[0033]

[0010] Hereinafter, a control device and a control method according to the present invention will be described with reference to the drawings.

[0034]

[0011] Note that, although the following description focuses on a control device used for a two-wheeled motorcycle (see lean vehicle 1 in Fig. 1), the vehicle controlled by the control device according to the present invention may be any lean vehicle, and may be a lean vehicle other than a two-wheeled motorcycle. A lean vehicle is a vehicle whose body leans to the right when turning right, and leans to the left when turning left. Lean vehicles include, for example, motorcycles (motorcycles, two-wheeled vehicles, and three-wheeled vehicles) and bicycles. Motorcycles include vehicles powered by engines and vehicles powered by electric motors. Motorcycles include, for example, motorcycles, scooters, and electric scooters. A bicycle is a vehicle that can be propelled along a road by the rider's pedaling force applied to the pedals. Bicycles include standard bicycles, electrically assisted bicycles, and electric bicycles.

[0035]

[0012] In the following description, an engine (specifically, engine 11 in FIG. 1 described below) is installed as a drive source capable of outputting power for driving the drive wheels. However, a drive source other than an engine (for example, an electric motor) may be installed as the drive source, and multiple drive sources may be installed.

[0036]

[0013] In the following description, a control unit that controls the hydraulic pressure of the brake fluid (specifically, hydraulic pressure control unit 12 in Figure 1 described below) is used as the control unit for the braking force acting on the wheel. However, a control unit that controls the position of the wheel braking part itself using an electrical signal (so-called brake-by-wire) may also be used as the control unit for the braking force acting on the wheel.

[0037]

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

[0038]

[0015] In the following, the same or similar descriptions are appropriately simplified or omitted. In addition, in each drawing, the same or similar members or parts are either not labeled with a symbol or are labeled with the same symbol. In addition, the illustration of detailed structures is appropriately simplified or omitted.

[0039]

[0016] Configuration of Lean Vehicle> The configuration of a lean vehicle 1 according to an embodiment of the present invention will be described with reference to Figs. 1 to 3.

[0040] 〇

[0041]

[0017] Fig. 1 is a schematic diagram showing the general configuration of a 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 Fig. 1, the lean vehicle 1 can wirelessly communicate with a server 2 via a wireless communication network N1. Although Fig. 1 shows one lean vehicle 1 for ease of understanding, in reality, a plurality of vehicles including the lean vehicle 1 can communicate with the server 2 via the communication network N1. The plurality of vehicles that can communicate with the server 2 include, in addition to the lean vehicle 1, lean vehicles other than the lean vehicle 1, and four-wheeled automobiles.

[0042]

[0018] As shown in Fig. 1, lean vehicle 1 includes an engine 11, a hydraulic control unit 12, a display device 13, an ambient environment sensor 14, an inertial measurement unit (IMU) 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, a navigation device 18, and an electronic control unit (ECU) 19. Lean vehicle 1 is a vehicle that cannot stand on its own when stopped. In other words, when lean vehicle 1 is stopped, the rider places their feet on the road surface for support, thereby maintaining an upright position. Note that lean vehicle 1 may also be a vehicle that can stand on its own when stopped.

[0043]

[0019] The lean vehicle 1 is equipped with a rider assistance system 10 that assists a rider in driving the lean vehicle 1. The rider assistance system 10 includes the above-described components (i.e., the engine 11, the hydraulic control unit 12, the display device 13, the ambient environment sensor 14, the inertial measurement unit 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, the navigation device 18, and the control device 19).

[0044]

[0020] The engine 11 corresponds to an example of a drive source of the lean vehicle 1, and is capable of outputting power to drive drive wheels (specifically, rear wheels). For example, the engine 11 is provided with one or more cylinders each having a combustion chamber formed therein, a fuel injection valve that injects fuel into the combustion chamber, and a spark plug. When fuel is injected from the fuel injection valve, a mixture containing air and fuel is formed in the combustion chamber, and the mixture is ignited by the spark plug and burns. This causes a piston provided in the cylinder to reciprocate, causing the crankshaft to rotate. In addition, a throttle valve is provided in the intake pipe of the engine 11, and the amount of air taken into the combustion chamber changes depending on the throttle opening, which is the opening degree of the throttle valve.

[0045] 〇

[0046]

[0021] The hydraulic control unit 12 is a unit that controls the braking force acting on the wheels. For example, the hydraulic control unit 12 is provided on an oil passage connecting a master cylinder and a wheel cylinder, and includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure of the wheel cylinder. The braking force acting on the wheels is controlled by controlling the operation of the components of the hydraulic control unit 12. The hydraulic control unit 12 may control the braking force acting on both the front and rear wheels, or may control only the braking force acting on either the front or rear wheels.

[0047]

[0022] The display device 13 has a display function for visually displaying information. An example of the display device 13 is a liquid crystal display. The display device 13 is provided, for example, in front of the steering wheel of the lean-to vehicle 1. However, the arrangement of the display device 13 relative to the vehicle body is not particularly limited.

[0048]

[0023] The ambient environment sensor 14 detects ambient environment information relating to the environment around the lean vehicle 1. Specifically, the ambient environment sensor 14 is provided at the front of the lean vehicle 1 and detects ambient environment information ahead of the lean vehicle 1. The ambient environment information detected by the ambient environment sensor 14 is output to the control device 19.

[0049]

[0024] The ambient environment information detected by the ambient environment sensor 14 may be information related to the distance or direction to an object located around the lean vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the lean vehicle 1 (for example, the type of object, the shape of the object itself, a mark attached to the object, etc.). The ambient environment sensor 14 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, etc.

[0050]

[0025] The ambient environment sensor 14 may be provided in a portion other than the front of the lean vehicle 1 and may detect ambient environment information at a location other than the front of the lean vehicle 1. For example, the ambient environment sensor 14 may detect ambient environment information behind the lean vehicle 1, or may detect ambient environment information to the side of the lean vehicle 1. Furthermore, multiple ambient environment sensors 14 may be provided on the lean vehicle 1, and in that case, each ambient environment sensor 14 can detect ambient environment information at multiple locations.

[0051]

[0026] The inertial measurement unit 15 is equipped with a three-axis gyro sensor and a three-directional acceleration sensor and detects the attitude of the lean vehicle 1. The inertial measurement unit 15 is provided, for example, on the body of the lean vehicle 1. For example, the inertial measurement unit 15 detects the lean angle of the lean vehicle 1 and outputs the detection result. The inertial measurement unit 15 may also 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 that represents the tilt in the roll direction of the body (specifically, the body) of the lean vehicle 1 relative to the vertically upward direction. The inertial measurement unit 15 may also be equipped with only a portion of the three-axis gyro sensor and the three-directional acceleration sensor.

[0052]

[0027] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel (for example, the number of rotations per unit time of the front wheel [rpm] or the moving distance per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 16 may also detect other physical quantities that can be substantially converted into the wheel speed of the front wheel. The front wheel speed sensor 16 is provided on the front wheel.

[0053]

[0028] The rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel (for example, the number of rotations per unit time of the rear wheel [rpm] or the moving distance per unit time [km / h], etc.) and outputs the detection result. The rear wheel speed sensor 17 may also detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel. The rear wheel speed sensor 17 is provided on the rear wheel.

[0054]

[0029] The navigation device 18 is a device that guides the rider along a route from the current position of the lean vehicle 1 to a desired destination. The navigation device 18 displays various information related to route guidance (for example, the current position of the lean vehicle 1, the travel route to be guided, the location of the destination, the distance on the travel route from the current position of the lean vehicle 1 to the destination, and the time to reach the destination). The navigation device 18 can also obtain location information of the lean vehicle 1 based on information transmitted from a GPS (Global Positioning System) satellite.

[0055]

[0030] The control device 19 controls the rider assistance system 10. For example, part or all of the control device 19 is configured with a microcomputer, a microprocessor unit, a memory, etc. Furthermore, for example, part or all of the control device 19 may be configured with updatable components such as firmware, or may be a program module executed by commands from a CPU, etc. The control device 19 may be, for example, a single device or may be divided into multiple devices.

[0056]

[0031] Figure 2 is a block diagram showing an example of the functional configuration of the control device 19. As shown in Figure 2, the control device 19 includes, for example, an acquisition unit 19a, an identification unit 19b, and an execution unit 19c. The control device 19 communicates with each device of the rider assistance system 10. The control device 19 also communicates with the server 2 via a communication network N1.

[0057]

[0032] The acquisition unit 19a acquires information from each device of the lean vehicle 1. For example, the acquisition unit 19a acquires information from the ambient environment sensor 14, the inertial measurement unit 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, and the navigation device 18. In this specification, the acquisition of information may include the extraction or generation of information (for example, calculation), etc.

[0058]

[0033] The determination unit 19 b performs processing to determine the absolute position of the lean vehicle 1. The result of the determination of the absolute position by the determination unit 19 b is used, for example, in processing performed by the execution unit 19 c. Details of the processing performed by the determination unit 19 b will be described later.

[0059]

[0034] The execution unit 19c executes rider assistance operations. Rider assistance operations are operations that assist the rider of the lean vehicle 1 in driving, and may include various operations. The execution unit 19c executes the rider assistance operations, for example, by appropriately controlling the operations of the engine 11, the hydraulic control unit 12, and the display device 13. Details of the rider assistance operations will be described later.

[0060]

[0035] The server 2 in Fig. 1 collects and manages information from multiple vehicles including the lean vehicle 1, and transmits information to each vehicle to be used for various processes in each vehicle. For example, part or all of the server 2 is configured with a microcomputer, a microprocessor unit, etc. Also, for example, part or all of the server 2 may be configured with updatable components such as firmware, or may be a program module executed by commands from a CPU, etc. For example, the server 2 may be one, or may be divided into multiple servers.

[0061]

[0036] Figure 3 is a block diagram showing an example of the functional configuration of the server 2. As shown in Figure 3, the server 2 includes, for example, an acquisition unit 2a, a generation unit 2b, and a storage unit 2c.

[0062]

[0037] The acquisition unit 2a acquires information obtained via the communication network N1. For example, the acquisition unit 2a acquires information transmitted from each vehicle.

[0063]

[0038] The generation unit 2b generates or updates a map, which is information used for various processes in each vehicle (for example, information used for rider assistance operations in the lean vehicle 1), based on information collected from each vehicle. In the map, past detection results of the surrounding environment sensors 14 of each vehicle are associated with map data. Specifically, the map integrates a huge amount of detection point data (specifically, data indicating three-dimensional position information in three-dimensional space) detected by the surrounding environment sensors 14. The detection point data includes, for example, detection point data indicating landmarks such as buildings, detection point data indicating the positions of lane boundaries, etc.

[0064]

[0039] The memory unit 2c stores various types of information. For example, the memory unit 2c stores information acquired by the acquisition unit 2a. The generation unit 2b generates or updates a map based on the information stored in the memory unit 2c. For example, the memory unit 2c stores a map generated or updated by the generation unit 2b.

[0065]

[0040] <Operation of the control device> The operation of the control device 19 according to the embodiment of the present invention will be described with reference to Figs. 4 to 1.

[0066]

[0041] As described above, the identification unit 19b of the control device 19 performs a process to identify the absolute position of the lean vehicle 1. Specifically, the identification unit 19b performs a position identification process as such a process. In the position identification process, the identification unit 19b executes a first process and a second process. However, as will be described later, the identification unit 19b does not have to execute the second process of the first process and the second process.

[0067]

[0042] In the first process, the identification unit 19b identifies the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1 based on the detection results of the surrounding environment sensor 14 mounted on the lean vehicle 1. For example, the identification unit 19b acquires a plurality of detection point data indicated by the current detection results of the surrounding environment sensor 14 as the identification result of the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1.

[0068]

[0043] The result of identifying the relative position acquired in the first process is used to identify the absolute position of the lean vehicle 1 in the second process. Here, the result of identifying the relative position acquired in the first process is also used to generate or update a map in the server 2. Therefore, the identification unit 19b wirelessly transmits the result of identifying the relative position acquired in the first process to the server 2, which is an external system.

[0069]

[0044] In the second process, the identification unit 19b identifies the absolute position of the lean vehicle 1 based on the result of comparing the above-mentioned relative position identification result with the map. For example, the identification unit 19b acquires a map indicating a range including the current position of the lean vehicle 1 (for example, a range within a predetermined distance centered on the current position) from the server 2. For example, the identification unit 19b can acquire information indicating the approximate current position of the lean vehicle 1 from the navigation device 18.

[0070]

[0045] Then, the identification unit 19b matches the plurality of detection point data indicated by the current detection results of the surrounding environment sensor 14 with the detection point data indicated on the map. For example, the identification unit 19b matches an approximated curved surface indicating the plurality of detection point data indicated by the current detection results of the surrounding environment sensor 14 with an approximated curved surface indicating the plurality of detection point data indicating a specific landmark on the map. Then, the identification unit 19b identifies the absolute position of the lean vehicle 1 based on the absolute position of the specific landmark on the map data and the relative position of the lean vehicle 1 with respect to the specific landmark. Note that the identification unit 19b performs the above matching by excluding detection point data indicating moving objects such as surrounding vehicles from the plurality of detection point data indicated by the current detection results of the surrounding environment sensor 14.

[0071]

[0046] The execution unit 19c of the control device 19 executes a rider assistance operation based on the absolute position identification result obtained by the identification unit 19b. Hereinafter, among the rider assistance operations, an operation executed based on the absolute position identification result will also be referred to as a specific operation. Note that, as will be described later, the rider assistance operation may include operations other than the specific operation.

[0072]

[0047] For example, the execution unit 19c may execute an operation to control the behavior of the lean vehicle 1 as the specific operation. An example of the operation to control the behavior of the lean vehicle 1 is adaptive cruise control. In adaptive cruise control, the execution unit 19c adjusts the positional relationship between the lean vehicle 1 and a target vehicle to achieve a target positional relationship.

[0073]

[0048] In adaptive cruise control, for example, the execution unit 19c uses information about the speed of the lean vehicle 1 acquired based on the wheel speed of the front wheels and the wheel speed of the rear wheels to automatically control the speed of the lean vehicle 1 without relying on acceleration / deceleration operations by the rider (i.e., accelerator operation and brake operation). As a result, the execution unit 19c controls the speed of the lean vehicle 1 so that the inter-vehicle distance between the lean vehicle 1 and the target vehicle becomes the target inter-vehicle distance. However, the execution unit 19c may also control the speed of the lean vehicle 1 so that the passing time difference (specifically, the time it takes for the lean vehicle 1 to pass the current position of the target vehicle) becomes the target passing time difference. In addition, in adaptive cruise control, when the target vehicle is not detected by the surrounding environment sensor 14, the execution unit 19c controls the speed of the lean vehicle 1 to the set speed set by the rider.

[0074] In adaptive cruise control, for example, a target vehicle is selected from vehicles detected by the ambient environment sensor 14. In adaptive cruise control, the execution unit 19 c changes the detection range of the ambient environment sensor 14 based on the absolute position of the lean vehicle 1. For example, when the lean vehicle 1 is traveling on the left or right side of the traveling lane, the execution unit 19 c adjusts the detection range of the ambient environment sensor 14 so that it does not overlap with an adjacent lane. In this way, the execution unit 19 c can prevent the target vehicle from being erroneously set by changing the detection range of the ambient environment sensor 14 according to the traveling position of the lean vehicle 1 in the lane width direction, for example.

[0075] However, the operation for controlling the behavior of the lean-in vehicle 1 may be an operation other than adaptive cruise control. For example, the operation for controlling the behavior of the lean-in vehicle 1 may be an operation other than adaptive cruise control that adjusts the positional relationship between the lean-in vehicle 1 and the target vehicle to a target positional relationship. Also, for example, the operation for controlling the behavior of the lean-in vehicle 1 may be an operation for controlling the steering of the lean-in vehicle 1. Note that in the operation for controlling the steering of the lean-in vehicle 1, the execution unit 19 c applies a force to the steering wheel that assists the steering force of the rider, for example.

[0076]

[0051] Furthermore, the execution unit 19c may execute, for example, an operation of issuing a warning to the rider of the leaning vehicle 1 as the specific operation. An example of an operation of issuing a warning to the rider is a forward collision warning. The forward collision warning is an operation of warning the rider that the leaning vehicle 1 is approaching a vehicle ahead. For example, in the forward collision warning, the execution unit 19c issues a warning to the rider when the possibility of a collision between the leaning vehicle 1 and the vehicle ahead exceeds a standard.

[0077] For example, the execution unit 19 c issues a warning to the rider using the display device 13. However, the method of issuing a warning to the rider is not limited to this example. For example, the execution unit 19 c may issue a warning to the rider using a display device provided on equipment worn by the rider (for example, a helmet). Also, for example, the execution unit 19 c may issue a warning to the rider using a sound output device provided on the lean-in vehicle 1 or equipment worn by the rider. Also, for example, the execution unit 19 c may issue a warning to the rider using a vibration generating device provided on the lean-in vehicle 1 or equipment worn by the rider. Also, for example, the execution unit 19 c may issue a warning to the rider by causing the lean-in vehicle 1 to instantaneously accelerate or decelerate. In this case, instantaneous acceleration / deceleration may be performed using the driving source of the lean vehicle 1 (e.g., the engine 11), a control unit for the braking force generated at the wheels (e.g., the hydraulic control unit 12), or the transmission mechanism of the lean vehicle 1.

[0078] In the forward collision warning, for example, a vehicle ahead detected by the surrounding environment sensor 14 is set as a target for warning. In the forward collision warning, for example, the execution unit 19 c changes the detection range of the surrounding environment sensor 14 based on the absolute position of the lean-in vehicle 1. For example, when the lean-in vehicle 1 is traveling on the left or right side of the traveling lane, the execution unit 19 c adjusts the detection range of the surrounding environment sensor 14 so that it does not overlap with an adjacent lane. In this way, for example, by changing the detection range of the surrounding environment sensor 14 according to the traveling position of the lean-in vehicle 1 in the lane width direction, the execution unit 19 c can prevent a vehicle that is unlikely to be a target for warning from being mistakenly set as a target for warning.

[0079] However, the operation of warning the rider may be an operation other than a forward collision warning. For example, the operation of warning the rider may be an operation of warning the rider that a vehicle behind is approaching the leaned vehicle 1.

[0080]

[0055] Here, the specific operation performed by the execution unit 19c may be an operation that is performed under certain circumstances. For example, the above-mentioned various specific operations may be performed when the lean vehicle 1 is passing through other vehicles, as described below with reference to Fig. 4. Furthermore, the above-mentioned various specific operations may be performed when a group is traveling, as described below with reference to Fig. 5.

[0081]

[0056] Figure 4 is a diagram showing a lean-to-side vehicle 1 engaged in weaving (so-called lane splitting). In the example of Figure 4, the lean-to-side vehicle 1 is traveling on a lane boundary LV between two adjacent travel lanes LI and L2. Figure 4 also shows other vehicles 3a and 3b as other vehicles 3 around the lean-to-side vehicle 1. The other vehicle 3a is traveling in the left-hand travel lane L1, and the other vehicle 3b is traveling in the right-hand travel lane L2. The other vehicles 3a and 3b are traveling side by side ahead of the lean-to-side vehicle 1. For example, when the lean-to-side vehicle 1 is located within an area having a predetermined width centered on the lane boundary LV, the execution unit 19c can determine that the lean-to-side vehicle 1 is weaving.

[0082]

[0057] In the situation of Fig. 4, the execution unit 19 c may, for example, adjust the detection range of the surrounding environment sensor 14 so that the other vehicles 3 a and 3 b do not enter the detection range, and then execute adaptive cruise control. Also, in the situation of Fig. 4, the execution unit 19 c may, for example, lower the set speed, and then execute adaptive cruise control. Also, in the situation of Fig. 4, the execution unit 19 c may adjust the detection range of the surrounding environment sensor 14 so that the other vehicles 3 a and 3 b do not enter the detection range, and then execute forward collision warning.

[0083]

[0058] Figure 5 is a diagram showing a group including a lean vehicle 1 traveling in a group. In group traveling, a group consisting of multiple lean vehicles including the lean vehicle 1 travels in a convoy. Figure 5 shows the lean vehicle 1 and some of the other vehicles 4a, 4b, 4c, and 4d that make up the group (i.e., lean vehicles other than the lean vehicle 1 in the group).

[0084]

[0059] As shown in Figure 5, in group driving, multiple lean vehicles travel in two convoys, one on the left side and one on the right side, in the same lane. In the example of Figure 5, other vehicles 4b and 4c make up the left side convoy. Other vehicles 4b and 4c are lined up in this order from the front. Meanwhile, other vehicles 4a, lean vehicle 1, and other vehicle 4d make up the right side convoy. Other vehicles 4a, lean vehicle 1, and other vehicle 4d are lined up in this order from the front.

[0085]

[0060] As shown in Figure 5, in group driving, multiple lean vehicles basically travel in an arrangement where the lean vehicles making up the left-hand line and the lean vehicles making up the right-hand line alternate in the longitudinal direction (i.e., a zigzag arrangement). In the example of Figure 5, the other vehicle 4a in the right-hand line, the other vehicle 4b in the left-hand line, the lean vehicle 1 in the right-hand line, the other vehicle 4c in the left-hand line, and the other vehicle 4d in the right-hand line are lined up in this order from the front in the longitudinal direction.

[0086]

[0061] As described above, when multiple lean-to vehicles are traveling in a group, the multiple lean-to vehicles basically travel in a zigzag formation. This shortens the longitudinal distance between each vehicle compared to when multiple lean-to vehicles travel in a single convoy. Therefore, it is possible to prevent the group from being separated by traffic lights. The execution unit 19c can determine whether the group including the lean-to vehicle 1 is traveling in a group based on, for example, information for identifying other vehicles 4 that make up the group and the detection results of the other vehicles 4. Note that the information for identifying other vehicles 4 may be manually set in advance in the control device 19, or may be automatically generated by the control device 19 while traveling.

[0087]

[0062] In the situation of Fig. 5, the execution unit 19c may, for example, adjust the detection range of the surrounding environment sensor 14 so that it expands toward the vehicle convoy to which the host vehicle does not belong (so that it expands to the left in the example of Fig. 5) based on the vehicle convoy to which the host vehicle belongs, and then execute adaptive cruise control. This allows another vehicle 4b that is close to the host vehicle to be set as the target vehicle. In addition, in the situation of Fig. 5, the execution unit 19c may, for example, lower the set speed and then execute adaptive cruise control. In addition, in the situation of Fig. 5, the execution unit 19c may adjust the detection range of the surrounding environment sensor 14 so that it shrinks on the side opposite to the vehicle convoy to which the host vehicle does not belong (so that it shrinks on the right in the example of Fig. 5) based on the vehicle convoy to which the host vehicle belongs, and then execute forward collision warning. This prevents vehicles traveling in adjacent lanes from being mistakenly set as targets for a warning.

[0088]

[0063] The above describes various examples of specific actions that are actions that are performed based on the results of identifying the absolute position. However, the execution unit 19c may execute actions other than the examples given above as specific actions. Furthermore, the execution unit 19c may execute multiple types of actions as specific actions. For example, the execution unit 19c may execute multiple types of actions arbitrarily selected from the examples given above as specific actions.

[0089] As described above, the position identification process performed by the identification unit 19 b is used in various technologies for assisting the rider in driving. In order to utilize such technologies, new proposals are desired for appropriately assisting the rider in driving the lean vehicle 1. Therefore, in this embodiment, the execution unit 19 c of the control device 19 performs a rider assistance operation based on reliability information, which is information related to the reliability of the position identification process. As a result, as will be described later, appropriate assistance can be provided to the rider in driving the lean vehicle 1. Hereinafter, a first, second, third, fourth, and fifth examples of the processes performed by the control device 19 related to the rider assistance operation performed based on the reliability information will be described in order.

[0090]

[0065] Fig. 6 is a flowchart showing a first example of the flow performed by the control device 19. Step S101 in Fig. 6 corresponds to the start of the control flow shown in Fig. 6.

[0066] When the control flow shown in Fig. 6 starts, in step S102, the acquisition unit 19a acquires reliability information, which is information about the reliability of the location identification process.

[0091]

[0067] As described above, in the position identification process, a first process (specifically, a process of identifying the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1 based on the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1) and a second process (specifically, a process of identifying the absolute position of the lean vehicle 1 based on the result of comparing the identification result of the relative position with the map) are executed. The reliability information may be first reliability information that is information about the reliability of the first process, or may be second reliability information that is information about the reliability of the second process.

[0092] The acquisition unit 19 a may acquire, for example, information regarding the reliability of the detection result of the surrounding environment sensor 14 as the first reliability information. Examples of such information include running state information of the lean vehicle 1. The running state information is information regarding the running state of the lean vehicle 1, and examples thereof include the lean angle, lean angle change rate, pitch angle, pitch angle change rate, yaw angle, yaw angle change rate, steering angle, steering angle change rate, speed, acceleration, wheel slip rate, lateral acceleration, etc. of the lean vehicle 1. The acquisition unit 19 a may acquire these pieces of information themselves as the first reliability information, or may acquire, as the first reliability information, a numerical value or the like indicating the reliability itself generated from these pieces of information.

[0093]

[0069] Here, the posture of the lean-mounted vehicle 1 is more likely to change than that of a four-wheeled automobile or the like. In a situation where the posture of the lean-mounted vehicle 1 is more likely to change, the posture of the lean-mounted vehicle 1 may differ from a reference posture (for example, a posture in which the lean-mounted vehicle 1 is upright), and this may reduce the reliability of the detection result of the surrounding environment sensor 14 mounted on the lean-mounted vehicle 1. For example, if the lean angle of the lean-mounted vehicle 1 is excessively large, the acquisition unit 19a may acquire, as the first reliability information, information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low. For example, if the speed of the lean-mounted vehicle 1 is excessively high, the acquisition unit 19a may acquire, as the first reliability information, information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low. For example, when the wheels of the lean vehicle 1 are slipping, the acquisition unit 19 a may acquire, as the first reliability information, information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low.

[0094] The acquisition unit 19 a may acquire the first reliability information based on map information. The map information is stored in, for example, the storage unit 2 c of the server 2 and transmitted from the server 2. For example, when the acquisition unit 19 a determines based on the map information that the lean vehicle 1 is traveling on a curved road, the acquisition unit 19 a may acquire, as the first reliability information, information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low.

[0095]

[0071] The acquisition unit 19a may acquire, for example, as the second reliability information, information related to the reliability of the identification result of the absolute position of the lean vehicle 1. Examples of such information include information related to the communication status between the lean vehicle 1 and the server 2, information related to the accuracy of identification of the approximate current position of the lean vehicle 1 by the navigation device 18, and information related to the generation status of a map in an area including the current position of the lean vehicle 1. The acquisition unit 19a may acquire these pieces of information themselves as the second reliability information, or may acquire, as the second reliability information, a numerical value or the like indicating the reliability itself generated from these pieces of information.

[0096] For example, if a communication abnormality occurs between the lean vehicle 1 and the server 2, the acquisition unit 19a may acquire, as the second reliability information, information indicating low reliability for the identification result of the absolute position of the lean vehicle 1. For example, if the accuracy of identification of the approximate current position of the lean vehicle 1 by the navigation device 18 deteriorates, the acquisition unit 19a may acquire, as the second reliability information, information indicating low reliability for the identification result of the absolute position of the lean vehicle 1. For example, if a map has not yet been generated for the range including the current position of the lean vehicle 1 or if there is insufficient data in the map, the acquisition unit 19a may acquire, as the second reliability information, information indicating low reliability for the identification result of the absolute position of the lean vehicle 1.

[0097]

[0073] Various examples of reliability information have been described above. However, the acquisition unit 19a may acquire information other than the examples given above as reliability information. The acquisition unit 19a may also acquire multiple types of information as reliability information. For example, the acquisition unit 19a may acquire multiple types of information arbitrarily selected from the examples given above as first reliability information. For example, the acquisition unit 19a may also acquire multiple types of information arbitrarily selected from the examples given above as second reliability information. For example, the acquisition unit 19a may also acquire both the first reliability information and the second reliability information as reliability information.

[0098]

[0074] After step S102, in step S103, the execution unit 19c executes, as a rider assistance operation, an operation of notifying the rider of the lean vehicle 1 of the reliability information acquired in step S102, and then returns to step S102.

[0099]

[0075] In step S!03, the execution unit 19c reports, as reliability information, information indicating whether the reliability of the position identification process is higher than a standard. The standard is set, for example, so that it can be determined whether the reliability of the position identification process is high enough to allow a specific operation, which is an operation performed based on the result of identifying the absolute position, to be performed properly without any problems. The execution unit 19c may also report, as reliability information, information that numerically represents the reliability of the position identification process on a scale such as 1-00.

[0100] For example, the execution unit 19 c executes the above notification using the display device 13. In this case, in the above notification, the execution unit 19 c may display the degree of reliability of the position identification process using characters, a figure, or by changing the color.

[0101] As described above, the execution unit 19 c notifies the rider by using, for example, the display device 13. However, the method of notifying the rider is not limited to this example. For example, the execution unit 19 c may notify the rider by using a display device provided on clothing worn by the rider (for example, a helmet). Also, for example, the execution unit 19 c may notify the rider by using a sound output device provided on the lean vehicle 1 or clothing worn by the rider. Also, for example, the execution unit 19 c may notify the rider by using a vibration generating device provided on the lean vehicle 1 or clothing worn by the rider. Also, for example, the execution unit 19 c may notify the rider by causing instantaneous acceleration or deceleration in the lean vehicle 1. In this case, instantaneous acceleration and deceleration may be performed using the drive source of the lean vehicle 1 (e.g., the engine 11), using a control unit for the braking force generated at the wheels (e.g., the hydraulic control unit 12), or using the transmission mechanism of the lean vehicle 1.

[0102]

[0078] As described above, in the first example, the execution unit 19c executes, as a rider assistance operation, an operation of notifying the rider of the lean vehicle 1 of the reliability information. This allows the rider of the lean vehicle 1 to drive the lean vehicle 1 after understanding the reliability of the position identification process. Therefore, assistance for the rider's driving is appropriately realized. For example, the rider can drive the lean vehicle 1 after understanding whether the above-mentioned specific operation using the position identification process is appropriately executed.

[0103] As described above, the execution unit 19c of the control device 19 executes a specific operation, which is an operation executed based on the result of identifying the absolute position. In the second, third, fourth, and fifth examples described below, an operation related to the specific operation is executed as a rider assistance operation executed based on reliability information.

[0104]

[0080] Fig. 7 is a flowchart showing a second example of the flow of the control process performed by the control device 19. Step S201 in Fig. 7 corresponds to the start of the control flow shown in Fig. 7.

[0105]

[0081] In the second example of Figure 7, the processing from step S102 onwards is different from the first example of Figure 6 described above.

[0106]

[0082] In the second example of FIG. 7, after step S102, in step S202, the execution unit 19c determines whether the reliability of the location identification process is higher than a reference value based on the reliability information.

[0107] .

[0108]

[0083] If it is determined that the reliability of the position identification process is higher than the standard (step S202 / YES), proceed to step S203. Then, in step S203, the execution unit 19c permits and enables the specific operation (i.e., makes the specific operation executable). On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202 / NO), proceed to step S204. Then, in step S204, the execution unit 19c prohibits and disables the specific operation (i.e., makes the specific operation unexecutable). After step S203 or step S204, return to step S102.

[0109]

[0084] As described above, the specific operation is an operation executed based on the result of identifying the absolute position, and may be, for example, an operation to control the behavior of the lean vehicle 1 (for example, adaptive cruise control) or an operation to warn the rider of the lean vehicle 1 (for example, forward collision warning). In step S204, the execution unit 19c, for example, prohibits these specific operations.

[0110]

[0085] The execution unit 19c may prohibit only a specific operation that is performed under certain circumstances. For example, the execution unit 19c may prohibit only a specific operation, such as adaptive cruise control, that is performed when the lean vehicle 1 described with reference to Fig. 4 is passing through other vehicles. Also, for example, the execution unit 19c may prohibit only a specific operation, such as adaptive cruise control, that is performed when other vehicles are traveling in a group, as described with reference to Fig. 5.

[0111]

[0086] As described above, in the second example, the execution unit 19c executes a specific action as a rider assistance action, which is an action performed based on the result of identifying the absolute position, and executes the specific action based on the reliability information. In particular, in the second example, the execution unit 19c switches between enabling and disabling the specific action based on the reliability information. This allows the specific action to be switched between enabling and disabling depending on the reliability of the position identification process. Therefore, the driving assistance for the rider can be appropriately realized. For example, in a situation where the reliability of the position identification process is low and it may be difficult to appropriately execute a specific action using the position identification process, the specific action can be prohibited and disabled.

[0112]

[0087] Fig. 8 is a flowchart showing a third example of the flow of the control process performed by the control device 19. Step S301 in Fig. 8 corresponds to the start of the control flow shown in Fig. 8.

[0113]

[0088] In the third example of Figure 8, the processing from step S202 onwards is different from the second example of Figure 7 described above.

[0114]

[0089] In the third example of Fig. 8, after step S102, as in the second example of Fig. 7 described above, in step S202, the execution unit 19c determines whether the reliability of the location identification process is higher than a reference level based on the reliability information.

[0115]

[0090] If it is determined that the reliability of the position identification process is higher than the standard (step S202 / YES), proceed to step S302. Then, in step S302, the execution unit 19c releases the restriction on the function of the specific operation. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202 / NO), proceed to step S303. Then, in step S303, the execution unit 19c restricts some of the functions of the specific operation. After step S302 or step S303, return to step S102.

[0116] As described above, the specific operation is an operation that is executed based on the result of identifying the absolute position, and may be, for example, an operation that controls the behavior of the lean vehicle 1 (for example, adaptive cruise control) or an operation that issues a warning to the rider of the lean vehicle 1 (for example, forward collision warning). In step S303, the execution unit 19c, for example, restricts some of the functions of these specific operations.

[0117] For example, the execution unit 19 c may limit the function of changing the detection range of the surrounding environment sensor 14 based on the absolute position of the lean vehicle 1 in the adaptive cruise control. In this case, the above function is not executed, but the adaptive cruise control is executable.

[0118]

[0093] For example, the execution unit 19c may limit the function of changing the detection range of the surrounding environment sensor 14 based on the absolute position of the leaning vehicle 1 in the forward collision warning. In this case, the above function is not executed, but the forward collision warning becomes executable.

[0119]

[0094] The execution unit 19c may limit some functions only for specific operations performed under certain circumstances. For example, the execution unit 19c may limit some functions only for specific operations such as adaptive cruise control performed when the lean vehicle 1 is passing through other vehicles as described with reference to Fig. 4. Furthermore, the execution unit 19c may limit some functions only for specific operations such as adaptive cruise control performed when the vehicle is traveling in a group as described with reference to Fig. 5.

[0120]

[0095] As described above, in the third example, the execution unit 19c executes a specific action, which is an action performed based on the result of identifying the absolute position, as a rider assistance action, and executes the specific action based on the reliability information. In particular, in the third example, the execution unit 19c changes the mode of the specific action based on the reliability information. This makes it possible to change the mode of the specific action according to the reliability of the position identification process. Therefore, it is possible to appropriately realize assistance for the rider's driving. For example, in a situation where the reliability of the position identification process is low and it may be difficult to appropriately execute a function of the specific action that uses the position identification process, the function can be restricted.

[0121]

[0096] In the above, as an example of a process for changing the mode of a specific operation based on reliability information, a process for restricting some functions of a specific operation based on reliability information has been described. However, the process for changing the mode of a specific operation based on reliability information is not limited to the above example. For example, the execution unit 19c may change the set speed in adaptive cruise control based on reliability information. Also, for example, the execution unit 19c may change the force that assists the steering operation force in the operation for controlling the steering of the lean vehicle 1 based on reliability information.

[0097] Figure 9 is a flowchart showing the flow of a fourth example performed by the control device 19. Step S401 in Figure 9 corresponds to the start of the control flow shown in Figure 9.

[0122]

[0098] In the fourth example of Fig. 9, the processing from step S202 onwards is different from that in the second example of Fig. 7 described above. The fourth example of Fig. 9 is performed in parallel with the second example of Fig. 7 described above. In other words, the fourth example of Fig. 9 is performed under a situation where a specific operation is prohibited when the reliability of the location identification process is lower than a standard.

[0123]

[0099] In the fourth example of Fig. 9, after step S102, as in the second example of Fig. 7 described above, in step S202, the execution unit 19c determines whether the reliability of the location identification process is higher than a standard based on the reliability information.

[0124]

[0100] If it is determined that the reliability of the position identification process is higher than the standard (step S202 / YES), the process returns to step S102. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202 / NO), the process proceeds to step S402. Then, in step S402, the execution unit 19c notifies the rider that the specific action is prohibited, and the process returns to step S102.

[0125] As described above, in the fourth example, the execution unit 19c executes, as a rider assistance action, an action of informing the rider of information about a specific action, which is an action performed based on the result of identifying the absolute position, and executes the action based on the reliability information. In particular, in the fourth example, the execution unit 19c switches between enabling and disabling the action of informing the rider of information about the specific action based on the reliability information. This makes it possible to switch between enabling and disabling the action of informing the rider of information about the specific action depending on the reliability of the position identification process. Therefore, assistance to the rider's driving is appropriately realized. For example, the rider can understand that the reliability of the position identification process is low and that a specific action using the position identification process is prohibited.

[0126]

[0102] The above describes an example in which, in a situation in which a specific action is performed based on reliability (specifically, in a situation in which a specific action is prohibited when the reliability of the position identification process is lower than a standard), the execution unit 19c switches between enabling and disabling the operation of notifying the rider of information about the specific action based on the reliability information. However, in a situation in which a specific action is performed without being based on reliability, the execution unit 19c may switch between enabling and disabling the operation of notifying the rider of information about the specific action based on the reliability information. For example, in a situation in which the reliability of the position identification process is lower than a standard, the execution unit 19c may issue an instruction to the rider to stop the specific action in a situation in which the specific action is not prohibited. On the other hand, in a situation in which the reliability of the position identification process is higher than a standard, the execution unit 19c does not need to issue such a notification.

[0127]

[0103] Fig. 10 is a flowchart showing a fifth example of the flow of the control device 19. Step S501 in Fig. 10 corresponds to the start of the control flow shown in Fig. 10.

[0128]

[0104] In the fifth example of Fig. 10, the processing from step S202 onwards is different from the second example of Fig. 7 described above. The fifth example of Fig. 10 is performed in parallel with the third example of Fig. 8 described above. In other words, the fifth example of Fig. 10 is performed under a situation where some functions of a specific operation are restricted when the reliability of the location identification process is lower than the standard.

[0129]

[0105] In the fifth example of Fig. 10, after step S202, as in the second example of Fig. 7 described above, in step S202, the execution unit 19c determines whether the reliability of the position identification process is higher than the standard based on the reliability information.

[0106] If it is determined that the reliability of the position identification process is higher than the standard (step S202 / YES), the process proceeds to step S502. Then, in step S502, the execution unit 19c notifies the rider that the restriction on the specific operation function has been lifted. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202 / NO), the process proceeds to step S503. Then, in step S503, the execution unit 19c notifies the rider that some functions of the specific operation are restricted. After step S502 or step S503, the process returns to step S102.

[0130] As described above, in the fifth example, the execution unit 19c executes, as a rider assistance action, an action of notifying the rider of information about a specific action, which is an action performed based on the result of identifying the absolute position, and executes the action based on the reliability information. In particular, in the fifth example, the execution unit 19c changes the manner of the action of notifying the rider of information about the specific action based on the reliability information. This makes it possible to change the manner of the action of notifying the rider of information about the specific action depending on the reliability of the position identification process. Therefore, assistance to the rider's driving can be appropriately achieved. For example, the rider can understand that the reliability of the position identification process is low and that some functions of the specific action using the position identification process are limited.

[0131]

[0108] The above describes an example in which the execution unit 19c changes the manner of the operation in which information about the specific operation is notified to the rider based on reliability information in a situation in which the specific operation is executed based on reliability (specifically, in a situation in which some functions of the specific operation are limited when the reliability of the position identification process is lower than a standard). However, in a situation in which the specific operation is executed not based on reliability, the execution unit 19c may change the manner of the operation in which information about the specific operation is notified to the rider based on reliability information. For example, in a situation in which some functions of the specific operation are not limited when the reliability of the position identification process is lower than a standard, the execution unit 19c may notify the rider of an instruction to stop some functions of the specific operation. On the other hand, in a situation in which the reliability of the position identification process is higher than a standard, the execution unit 19c may notify the rider that it is not necessary to stop some functions of the specific operation.

[0132]

[0109] The first, second, third, fourth, and fifth examples have been described above as examples of processing performed by the control device 19. However, the processing performed by the control device 19 may be modified from the processing examples described above.

[0133] For example, the above describes a process for executing an operation for notifying a rider of a lean vehicle 1 of reliability information as a rider assistance operation (first example in FIG. 6), a process for switching between enabling and disabling a specific operation based on reliability information (second example in FIG. 7), a process for changing the mode of a specific operation based on reliability information (third example in FIG. 8), a process for switching between enabling and disabling an operation for notifying a rider of information related to a specific operation based on reliability information (fourth example in FIG. 9), and a process for changing the mode of an operation for notifying a rider of information related to a specific operation based on reliability information (fifth example in FIG. 10). A plurality of types of processes arbitrarily selected from these processes may be combined.

[0134]

[0111] For example, the execution unit 19c may execute both a process of switching between enabling and disabling a specific operation based on reliability information (the second example in FIG. 7 above) and a process of changing the mode of the specific operation based on reliability information (the third example in FIG. 8 above). For example, if the reliability of the position identification process is higher than a standard, the execution unit 19c may permit and enable the specific operation, without restricting the function of the specific operation. If the reliability of the position identification process is lower than the standard but not excessively low, the execution unit 19c may permit and enable the specific operation, but may restrict some of the functions of the specific operation. On the other hand, if the reliability of the position identification process is excessively lower than the standard, the execution unit 19c may prohibit and disable the specific operation.

[0135]

[0112] Furthermore, for example, the execution unit 19c may execute both a process of executing a specific action based on reliability information (the second example in FIG. 7 or the third example in FIG. 8 in the above) and a process of executing an action of notifying the rider of information related to the specific action based on reliability information (the fourth example in FIG. 9 or the fifth example in FIG. 10 in the above), or may execute only one of them. Furthermore, for example, the execution unit 19c may execute a process of executing an operation to notify the rider of the lean vehicle 1 of reliability information as a rider assistance operation (the first example in FIG. 6 above) in addition to at least one of the process of executing a specific operation based on reliability information (the second example in FIG. 7 or the third example in FIG. 8 above) and the process of executing an operation to notify the rider of information related to the specific operation based on reliability information (the fourth example in FIG. 9 or the fifth example in FIG. 10 above).

[0136]

[0113] In addition, for example, in the above example, the map used in the second process is described as being associated with the past detection results of the surrounding environment sensor 14 and map data. However, the information contained in the map used in the second process is not limited to the above example. The map used in the second process may be compared with the relative position determination result in the first process, and may contain information that can identify the absolute position of the lean vehicle 1.

[0137]

[0114] <Effects of the control device> The effects of the control device 19 according to the embodiment of the present invention will be explained.

[0138]

[0115] The control device 19 includes a first process for determining the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1 based on the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1, and a second process for determining the absolute position of the lean vehicle 1 based on the result of comparing the determination result of the relative position with the map. The control device 19 includes an identification unit 19b that performs at least the first process in the position determination process, and an execution unit 19c that executes a rider assistance operation to assist the rider in driving. Furthermore, the control device 19 includes an acquisition unit 19a that acquires reliability information, which is information about the reliability of the position determination process. The execution unit 19c then executes the rider assistance operation based on the reliability information. This makes it possible to assist the rider of the lean vehicle 1 in driving the lean vehicle 1 depending on the reliability of the position determination process. Therefore, it is possible to appropriately assist the rider in driving the lean vehicle 1.

[0139]

[0116] In the above example, the identification unit 19 b executes both the first process and the second process. However, the identification unit 19 b only needs to execute at least the first process of the first and second processes.

[0140]

[0117] Preferably, in the control device 19, the identification unit 19b executes the second process in addition to the first process. This makes it possible to appropriately assist the rider of the lean vehicle 1 in driving when both the first process and the second process are executed by the control device 19.

[0141]

[0118] Preferably, in the control device 19, the identification unit 19b wirelessly transmits the identification result of the relative position to an external system (in the above example, the server 2). For example, when the identification unit 19b executes only the first process out of the first process and the second process, the identification unit 19b wirelessly transmits the identification result of the relative position to the external system. In this case, for example, by the execution unit 19c executing an operation of notifying the rider of reliability information as the rider assistance operation, the rider can grasp the validity of the identification result of the relative position acquired by the vehicle and transmitted to the external system. This makes it possible to appropriately assist the driving of such a rider.

[0119] Preferably, in the control device 19, the rider assistance operation executed based on the reliability information is an operation of notifying the rider of the reliability information. This allows the rider of the lean vehicle 1 to understand the reliability of the position identification process before driving the lean vehicle 1. Therefore, assistance for the rider's driving is appropriately realized. For example, the rider can drive the lean vehicle 1 after understanding whether the above-mentioned specific operation using the position identification process is executed appropriately.

[0142]

[0120] Preferably, in the control device 19, the rider assistance operation performed based on the reliability information is an operation (in the above example, a specific operation) performed based on the result of identifying the absolute position. This makes it possible to appropriately perform the operation performed based on the result of identifying the absolute position in accordance with the reliability of the position identification process. Therefore, assistance to the rider in driving is appropriately realized.

[0143]

[0121] Preferably, the rider assistance action performed by the control device 19 based on the reliability information is an action of notifying the rider of information about an action (in the above example, a specific action) to be performed based on the result of identifying the absolute position. This makes it possible to appropriately perform the action of notifying the rider of information about an action to be performed based on the result of identifying the absolute position in accordance with the reliability of the position identification process. This allows for appropriate assistance to the rider in driving.

[0144]

[0122] Preferably, in the control device 19, the execution unit 19c switches between enabling and disabling of a rider assistance operation (specifically, an operation executed based on the result of specifying the absolute position, or an operation of notifying the rider of information related to the operation executed based on the result of specifying the absolute position) based on the reliability information. This makes it possible to switch between enabling and disabling of an operation executed based on the result of specifying the absolute position, or an operation of notifying the rider of information related to the operation executed based on the result of specifying the absolute position, depending on the reliability of the position identification process. Therefore, assistance to the rider in driving is appropriately achieved.

[0145]

[0123] Preferably, in the control device 19, the execution unit 19c changes the mode of the rider assistance operation (specifically, the operation executed based on the result of specifying the absolute position, or the operation of notifying the rider of information related to the operation executed based on the result of specifying the absolute position) based on the reliability information. This makes it possible to change the mode of the operation executed based on the result of specifying the absolute position, or the mode of the operation of notifying the rider of information related to the operation executed based on the result of specifying the absolute position, depending on the reliability of the position identification process. Therefore, assistance to the rider in driving is appropriately achieved.

[0146]

[0124] Preferably, in the control device 19, the operation executed based on the result of identifying the absolute position is an operation to control the behavior of the lean vehicle 1. Thus, when the operation to control the behavior of the lean vehicle 1 is performed using the position identification process, it is possible to appropriately support the rider in driving.

[0147]

[0125] Preferably, the operation executed by the control device 19 based on the result of identifying the absolute position is an operation of issuing a warning to the rider. In this way, when the operation of issuing a warning to the rider is performed using the position identification process, it is possible to appropriately support the rider in driving.

[0148]

[0126] Preferably, in the control device 19, the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which the lean vehicle 1 is passing through a narrow space. As a result, when the operation executed in a situation in which the lean vehicle 1 is passing through a narrow space is performed using the position identification process, it is possible to appropriately realize assistance for driving by the rider.

[0149]

[0127] Preferably, in the control device 19, the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which a group consisting of a plurality of lean vehicles including the lean vehicle 1 is traveling in a convoy. As a result, when an operation executed in a situation in which a group is traveling is performed using the position identification process, it is possible to appropriately support the rider's driving.

[0150]

[0128] Preferably, in the control device 19, the reliability information includes first reliability information that is information about the reliability of the first process. Thus, by focusing on the reliability of the first process, information about the reliability of the location identification process can be appropriately obtained as reliability information.

[0151]

[0129] Preferably, in the control device 19, the reliability information includes second reliability information that is information about the reliability of the second process. Thus, by focusing on the reliability of the second process, information about the reliability of the location identification process can be appropriately obtained as reliability information.

[0152]

[0130] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0153] [Explanation of symbols]

[0154] [ 0 1 3 1 ]

[0155] 1 lean vehicle, 2 server, 2a acquisition unit, 2b generation unit, 2c memory unit, 3 other vehicle, 3a other vehicle, 3b other vehicle, 4 other vehicle, 4a other vehicle, 4b other vehicle, 4c other vehicle, 4d other vehicle, 10 rider assistance system, 11 engine, 12 hydraulic control unit, 13 display device, 14 ambient environment sensor, 15 inertial measurement unit, 16 front wheel speed sensor, 17 rear wheel speed sensor, 18 navigation device, 19 control device, 19a acquisition unit, 19b identification unit, 19c execution unit.

Claims

[Document name] Scope of claims

1. A control device (19) for a rider assistance system (10) that assists a rider of a lean vehicle (1) in driving the lean vehicle (1), the control device (19) comprising: a determination unit (19b) that performs at least a first process in a position identification process that identifies a relative position of the lean vehicle (1) with respect to objects around the lean vehicle (1) based on a detection result of an ambient environment sensor (14) mounted on the lean vehicle (1); and a second process that identifies an absolute position of the lean vehicle (1) based on a comparison result of the identification of the relative position with a map; and an execution unit (19c) that executes a rider assistance operation that assists the rider in driving the lean vehicle (1). The control device (19) further comprises an acquisition unit (19a) that acquires reliability information that is information on the reliability of the position identification process, and the execution unit (19c) executes the rider assistance operation based on the reliability information. A control device.

2. The control device according to claim 1, wherein the identification unit (19b) executes the second process in addition to the first process.

3. The control device according to claim 1, wherein the determination unit (19b) wirelessly transmits the determination result of the relative position to an external system (2).

4. The control device according to claim 1, wherein the rider assistance operation is an operation of notifying the rider of the reliability information.

5. The control device according to claim 1, wherein the rider assistance operation is an operation that is executed based on the result of determining the absolute position.

6. The control device according to claim 1, wherein the rider assistance operation is an operation of notifying the rider of information regarding an operation to be executed based on the result of identifying the absolute position.

7. The control device according to claim 5 or 6, wherein the execution unit (19c) switches between enabling and disabling the rider assistance operation based on the reliability information.

8. The control device according to claim 5 or 6, wherein the execution unit (19c) changes a mode of the rider assistance operation based on the reliability information.

9. The control device according to claim 5 or 6, wherein the operation executed based on the result of identifying the absolute position is an operation of controlling a behavior of the lean vehicle (1).

10. A control device as described in claim 5 or 6, wherein the action executed based on the result of identifying the absolute position is an action of issuing a warning to the rider.

11. The control device according to claim 5 or 6, wherein the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which the lean vehicle (1) is passing through obstacles.

12. The control device according to claim 5 or 6, wherein the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which a group consisting of multiple lean vehicles including the lean vehicle (1) is traveling in a convoy.

13. A control device described in any one of claims 1 to 6, wherein the reliability information includes first reliability information which is information regarding the reliability of the first process.

14. A control device described in any one of claims 1 to 6, wherein the reliability information includes second reliability information which is information regarding the reliability of the second process.

15. A control method for a rider assistance system (10) that assists a rider of a lean vehicle (1) in driving, the method comprising: an identification unit (19b) of a control device (19) performing at least the first process of a position identification process in which a relative position of the lean vehicle (1) with respect to an object around the lean vehicle (1) is identified based on a detection result of an ambient environment sensor (14) mounted on the lean vehicle (1); and a second process of identifying an absolute position of the lean vehicle (1) based on a comparison result of the identification of the relative position with a map; an execution unit (19c) of the control device (19) performing a rider assistance operation that assists the rider in driving; and an acquisition unit (19a) of the control device (19) performing a process related to reliability of the position identification process. and the execution unit (19c) executes the rider assistance operation based on the reliability information.

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