Control device and control method for rider assist system

Abstract

The present invention obtains a control device (20) and a control method capable of improving the supportability of a rider. An execution unit (21) that, during when a host vehicle (100) that is a straddle-type vehicle is traveling, executes a positional relationship adjustment operation that is an operation of adjusting a positional relationship between the host vehicle and a preceding vehicle (200) is included, and in the positional relationship adjustment operation, the execution unit: acquires, based on selection operation information that is information on an operation in which a rider of the host vehicle selects one setting mode among a plurality of setting modes in order to collectively set target positional relationships between the host vehicle and the preceding vehicle relative to a plurality of vehicle speed states, the target positional relationships in the plurality of the vehicle speed states; acquires a corrected target positional relationship in which the target positional relationship in at least a part of the vehicle speed states among the plurality of the vehicle speed states has been corrected; and adjusts the positional relationship between the host vehicle and the preceding vehicle to the corrected target positional relationship.

Description

[0001] [Document name] Statement

[0002] [Title of Invention] Rider assistance system control device and control method

[0003] [Technical Field]

[0004]

[001] The present invention relates to a control device for a rider assistance system and a control method for a rider assistance system.

[0005] [Background technology]

[0006]

[002] In a conventional rider assistance system, a control device automatically controls the braking force and / or driving force applied to a saddle-type vehicle while the vehicle is traveling, thereby performing a positional relationship adjustment operation to adjust the positional relationship between the vehicle and a preceding vehicle to a target positional relationship (see, for example, Patent Document 1).

[0007] [Prior art documents]

[0008] [Patent documents]

[0009]

〇 0 0 3

[0010] [Patent Document 1] International Publication No. 2018 / 197965

[0011] Summary of the Invention

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

[0013]

[0004] In conventional rider assistance systems, the rider of the vehicle selects one setting mode from among multiple setting modes for collectively setting the target positional relationship between the vehicle and the preceding vehicle for multiple vehicle speed conditions. The control device then acquires the target positional relationship set in the selected setting mode corresponding to the vehicle speed condition of the vehicle, and adjusts the positional relationship between the vehicle and the preceding vehicle to that target positional relationship in the positional relationship adjustment operation. However, saddle-type vehicles are smaller in size than other types of vehicles (e.g., passenger cars, trucks, etc.) and have a significantly higher degree of freedom in terms of riding position, which means that the positional relationship between the vehicle and the preceding vehicle preferred by each rider tends to vary greatly. Therefore, even if the rider can collectively set the target positional relationship for multiple vehicle speed conditions by selecting their preferred setting mode from among multiple setting modes, it may be difficult to position the vehicle in the rider's preferred position in the positional relationship adjustment operation.

[0014]

[0005] The present invention has been made in light of the above-mentioned problems, and provides a control device that can improve rider support. Also, a control method that can improve rider support.

[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, and includes an execution unit that automatically controls the braking force and / or driving force generated in a host vehicle, which is a saddle-ride type vehicle, while the host vehicle is traveling, to perform a positional relationship adjustment operation that adjusts the positional relationship between the host vehicle and a preceding vehicle, and in the positional relationship adjustment operation, the execution unit acquires the target positional relationship for a plurality of vehicle speed states based on selection operation information that is information on an operation by the rider of the host vehicle to select one setting mode from a plurality of setting modes for collectively setting a target positional relationship between the host vehicle and the preceding vehicle for a plurality of vehicle speed states, acquires a corrected target positional relationship in which the target positional relationship for at least some of the plurality of vehicle speed states is corrected, and adjusts the positional relationship between the host vehicle and the preceding vehicle to the corrected target positional relationship.

[0017]

[0007] In a control method according to the present invention, an execution unit of a control device automatically controls a braking force and / or a driving force generated in a host vehicle, which is a saddle-ride type vehicle, while the host vehicle is traveling, to execute a positional relationship adjustment operation, which is an operation for adjusting a positional relationship between the host vehicle and a preceding vehicle, and the execution unit selects, in the positional relationship adjustment operation, a target positional relationship between the host vehicle and the preceding vehicle, from a plurality of setting modes for collectively setting a target positional relationship between the host vehicle and the preceding vehicle for a plurality of vehicle speed states by a rider of the host vehicle.

[0018] The target positional relationship for the plurality of vehicle speed states is acquired based on selection operation information, which is information on an operation for selecting one setting mode, and a corrected target positional relationship is acquired in which the target positional relationship for at least some of the plurality of vehicle speed states is corrected, and the positional relationship between the host vehicle and the preceding vehicle is adjusted to the corrected target positional relationship.

[0019] [Effects of the Invention]

[0020]

[0008] In the control device and control method according to the present invention, in the positional relationship adjustment operation, the execution unit acquires the target positional relationship for a plurality of vehicle speed states based on selection operation information, which is information on an operation by the rider of the host vehicle to select one setting mode from a plurality of setting modes for collectively setting the target positional relationship between the host vehicle and the preceding vehicle for a plurality of vehicle speed states. Then, the execution unit acquires a corrected target positional relationship in which the target positional relationship for at least some of the plurality of vehicle speed states has been corrected, and adjusts the positional relationship between the host vehicle and the preceding vehicle to the corrected target positional relationship. Therefore, in the positional relationship adjustment operation, the feasibility of positioning the host vehicle at a position preferred by the rider can be improved.

[0021] BRIEF DESCRIPTION OF THE DRAWINGS

[0022] [ 0 0 0 9]

[0023] [Figure 1] A diagram showing a rider assistance system according to an embodiment of the present invention mounted on a saddle-ride type vehicle.

[0024] [Figure 2] A diagram showing the system configuration of a rider assistance system according to an embodiment of the present invention.

[0025] [Figure 3] A diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention.

[0026] [Figure 4] A diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention.

[0027] [Figure 5] A diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention.

[0028] [Figure 6] A diagram for explaining the configuration of a rider assistance system according to an embodiment of the present invention.

[0029] [Figure 7] A diagram showing the operation flow of the control device of the rider assistance system according to an embodiment of the present invention.

[0030] [Mode for Carrying Out the Invention]

[0031]

[0010] Below, the control device and control method according to the present invention will be explained with reference to the drawings.

[0032] [0 0 1 1] Note that the configurations, operations, etc. described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations, operations, etc.

[0033]

[0012] For example, although the following describes a case where the control device and control method according to the present invention are used in a rider assistance system for a motorcycle, the control device and control method according to the present invention may also be used in a rider assistance system for a saddle-ride type vehicle other than a motorcycle. A saddle-ride type vehicle refers to a vehicle that is driven by a rider straddling the body. Examples of saddle-ride type vehicles include motorcycles (motorcycles and motor tricycles) and bicycles. Motorcycles include vehicles powered by engines and vehicles powered by electric motors. Examples of motorcycles include motorcycles, scooters, and electric scooters. A bicycle refers to 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.

[0034]

[0013] In the following, the same or similar descriptions are appropriately simplified or omitted. Also, for example, the rider can use the setting input device 13 to set various modes or various control parameters (e.g., tolerances, etc.) used in various rider assistance operations. The setting input device 13 may be a device that accepts operation by the rider's body (e.g., hands, feet, etc.), or may be a device that accepts voice utterances from the rider. The setting input device 13 may be provided in the host vehicle 100, or may be provided in equipment (e.g., a helmet, gloves, etc.) associated with the host vehicle 100.

[0035]

[0021] The communication device 14 communicates wirelessly with other communication devices installed in other vehicles located around the vehicle 100 and / or other communication devices installed in road facilities (for example, traffic lights, signs, guardrails, utility poles, stop lines, etc.). The communication devices installed in the other vehicles transmit, for example, driving status information of the other vehicles detected by the other vehicles, surrounding environment information of the other vehicles detected by the other vehicles, etc. to the communication device 14. The other communication devices installed in the road facilities transmit, for example, status information of the road facilities, surrounding environment information of the road facilities detected by the road facilities, etc. to the communication device 14. The communication device 14 may be composed of multiple receivers with communication ranges that are different from each other.

[0036]

[0022] The positioning device 15 receives positioning signals transmitted from multiple communication satellites and determines the position of the vehicle 100 on the global positioning system. The position of the vehicle 100 is compared with map information to obtain its position on the map.

[0037]

[0023] The control device 20 includes at least an execution unit 21. All or each unit of the control device 20 may be provided together in one housing, or may be provided separately in multiple housings. All or each unit of the control device 20 may be configured, for example, as a microcomputer, microprocessor unit, or the like, or may be configured as updatable firmware, or may be a program module executed by command from a CPU, etc.

[0038]

[0024] The execution unit 21 acquires surrounding environment information for the host vehicle 100 based on the output of the surrounding environment detection device 11 while the host vehicle 100 is traveling. The surrounding environment information includes positional relationship information, which is actual measurement information on the positional relationship between the host vehicle 100 and objects located around the host vehicle 100 (for example, other vehicles, obstacles, road facilities, people, animals, etc.). The positional relationship information is, for example, information on relative position, relative distance, relative speed, relative acceleration, relative jerk, passing time difference, predicted time until collision, etc. The positional relationship information may also be information on other physical quantities that can be substantially converted into these. In addition, the surrounding environment information includes characteristic information of objects located around the host vehicle 100 (for example, other vehicles, obstacles, road facilities, people, animals, etc.). The characteristic information may be, for example, brake indicator light information indicating the status of the brake lights of other vehicles, traffic light information indicating the status of traffic lights, drawing information indicating the content of drawings on the road (e.g., stop lines, etc.), sign information indicating the content of signs, and traffic event information indicating traffic events (e.g., congestion, construction, accidents, etc.). The characteristic information may also be information on other physical quantities that can be substantially converted into the above information. The execution unit 21 may acquire surrounding environment information of the host vehicle 100 based on the output of the communication device 14 while the host vehicle 100 is traveling.

[0039]

[0025] As a rider assistance operation, the execution unit 21 automatically controls the braking force and / or driving force generated in the host vehicle 100 to execute a positional relationship adjustment operation, which is an operation to adjust the positional relationship between the host vehicle 100 and a preceding vehicle 200 (see Fig. 3 and Fig. 5). When executing the positional relationship adjustment operation, the execution unit 21 outputs a control command to the braking device 30 or the drive device 40. The braking device 30 brakes the host vehicle 100. The drive device 40 drives the host vehicle 100 as a power source for the host vehicle 100. The braking device 30 may be controlled to generate or increase deceleration, or may be controlled to generate or increase acceleration. The drive unit 40 may be controlled to generate or increase acceleration, or may be controlled to generate or increase deceleration. The positional relationship adjustment operation is released when a predetermined operational intervention is performed by the rider.

[0040]

[0026] When performing the positional relationship adjustment operation, the execution unit 21 outputs a control command to the notification device 50 as necessary. The notification device 50 may notify a warning or information by display (i.e., perception using the visual organs as sensory organs), or by sound (i.e., perception using the auditory organs as sensory organs), or by vibration (i.e., perception using the tactile organs as sensory organs). For example, the notification device 50 is a display, lamp, speaker, vibrator, etc. The notification device 50 may be provided in the host vehicle 100, or may be provided in equipment associated with the host vehicle 100 (e.g., a helmet, gloves, etc.). The notification operation may also be to issue a warning or information by causing the vehicle 100 to momentarily decelerate or accelerate. In other words, the notification device 50 may be configured by a braking device 30 or a driving device 40.

[0041]

[0027] As shown in Fig. 3, the execution unit 21 causes the host vehicle 100 to perform a positional relationship adjustment operation when the group driving mode described below cannot be executed or is disabled. The positional relationship adjustment operation is an operation to adjust the positional relationship between the host vehicle 100 and a preceding vehicle 200 that is located within the detection range Ra of the detection unit 11a and traveling one vehicle ahead of the host vehicle 100 in the traveling direction of the host vehicle 100 based on positional relationship information, which is actual measurement information of the positional relationship between the host vehicle 100 and the preceding vehicle 200. Note that the positional relationship adjustment operation may take into account the traveling conditions of vehicles other than the preceding vehicle 200 located around the host vehicle 100.

[0042]

[0028] When performing the positional relationship adjustment operation, the rider of the host vehicle 100 can set the target positional relationship, which is the target positional relationship between the host vehicle 100 and the preceding vehicle 200, for multiple vehicle speed states (especially all vehicle speed states where the positional relationship adjustment operation can be performed), all at once. The rider of the host vehicle 100 performs the setting by using the setting input device 13 to select one setting mode from multiple setting modes. The execution unit 21 obtains the target positional relationships for multiple vehicle speed states based on selection operation information, which is information about the operation. The execution unit 21 also outputs a control command to the notification device 50 to notify the state set by the rider. For example, the rider of the host vehicle 100 uses the setting input device 13 to select one setting mode from among a first setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100 and the preceding vehicle 200 tends to approach each other in all vehicle speed conditions in which the positional relationship adjustment operation can be performed; a second setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100 and the preceding vehicle 200 tends to be more distant than in the first setting mode in all vehicle speed conditions in which the positional relationship adjustment operation can be performed; and a third setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100 and the preceding vehicle 200 tends to be more distant than in the second setting mode in all vehicle speed conditions in which the positional relationship adjustment operation can be performed. The execution unit 21 stores a data set that defines the target positional relationship for each vehicle speed state for each setting mode, and acquires the target positional relationship for all vehicle speed states in which the positional relationship adjustment operation can be performed by switching the data set according to the selected setting mode. When the rider of the vehicle 100 selects the second setting mode, as shown in FIG. 4, the bottom and middle frames of the logo L0 that notifies the target positional relationship in the notification device 50 are highlighted.The system may be configured so that the rider of the host vehicle 100 selects one setting mode from two setting modes, or one setting mode from four or more setting modes. Furthermore, if the positional relationship adjustment operation is executable only at certain vehicle speed states, the target positional relationship may be set and acquired for only those vehicle speed states or for only some of those vehicle speed states. In other words, it is sufficient for the rider of the host vehicle 100 to be able to collectively set the target positional relationship, which is the target for the positional relationship between the host vehicle 100 and the preceding vehicle 200, for multiple vehicle speed states, and the execution unit 21 may acquire the target positional relationship for multiple vehicle speed states.

[029] When the group driving mode is executable, the execution unit 21 determines whether the group driving mode is enabled while the host vehicle 100 is traveling. As shown in Fig. 5, the group driving mode is a mode that executes a control operation specialized for a state in which the host vehicle 100 and other saddle-type vehicles 300 are traveling in a group, that is, traveling in a convoy. Here, group driving is when a plurality of saddle-type vehicles 300 travel in one driving lane L, forming two convoys VLI and VL2. The number of saddle-type vehicles 300 that make up the group driving may be two or more.

[0043] For example, the group driving mode is automatically enabled and disabled by the execution unit 21 based on the surrounding environment information acquired by the execution unit 21, and the execution unit 21 determines whether the group driving mode is enabled or disabled based on the switching information. Based on the surrounding environment information acquired by the execution unit 21, the execution unit 21 determines whether the host vehicle 100 and the other saddle-ride type vehicles 300 have been traveling in a specific manner (for example, as shown in FIG. 5, two vehicle convoys VL1, VL2 are formed so that the host vehicle 100 and the other saddle-ride type vehicles 300 are lined up in a zigzag pattern) for more than a reference time or a reference traveling distance, and if the determination is affirmative, the group driving mode is automatically enabled. The execution unit 21 may identify other saddle-ride type vehicles 300 located within the travel lane L in which the host vehicle 100 is traveling, and may make only the identified other saddle-ride type vehicles 300 the subject of its judgment, or may identify other saddle-ride type vehicles 300 that continue to be located around the host vehicle 100 for more than a reference time or a reference travel distance, without using information about the boundary of the travel lane L, and may make the identified other saddle-ride type vehicles 300 the subject of its judgment.

[0044]

[0031] For example, the group riding mode can be switched between enabled and disabled by a setting input by the rider, and the execution unit 21 determines whether the group riding mode is enabled or disabled based on the output of the setting input device 13 acquired by the execution unit 21. The execution unit 21 may automatically suggest enabling and / or disabling the group riding mode based on the surrounding environment information acquired by the execution unit 21, and the suggestion may be confirmed by the rider's setting input of approval.

[0045]

[0032] When the group driving mode is enabled, the execution unit 21 causes the host vehicle 100 to perform a positional relationship adjustment operation. The positional relationship adjustment operation is an operation to adjust the positional relationship between the host vehicle 100 and a preceding vehicle 200 that is located within the detection range Ra of the detection unit 11a, is traveling in a group with the host vehicle 100, and is traveling one vehicle ahead of the host vehicle 100 in the traveling direction of the host vehicle 100, based on positional relationship information that is actual measurement information of the positional relationship between the host vehicle 100 and a preceding vehicle 200. In addition, the positional relationship adjustment operation may take into account the driving conditions of vehicles other than the preceding vehicle 200 located around the subject vehicle 100 (for example, other saddle-ride type vehicles 300 that are traveling in a group with the subject vehicle 100, vehicles that are not traveling in a group with the subject vehicle 100, etc.). Whether or not another saddle-ride type vehicle 300 is traveling in a group with the subject vehicle 100 may be determined based on information about the positional relationship with the subject vehicle 100 over time, or may be determined based on information registered in advance by the rider. The information registered in advance by the rider includes, for example, the position of the vehicle 100 within the convoy formed by group riding (e.g., front, middle, rear, order from the front or rear, convoy VL1, VL2 to which the vehicle belongs, etc.), and information identifying other saddle-type vehicles 300 belonging to the group (e.g., model, color, license plate information, etc.).

[0046]

[0033] When performing the positional relationship adjustment operation, the rider of the host vehicle 100 can set the target positional relationship, which is the target positional relationship between the host vehicle 100 and the preceding vehicle 200, for multiple vehicle speed states (especially all vehicle speed states where the positional relationship adjustment operation can be performed), all at once. The rider of the host vehicle 100 performs the setting by using the setting input device 13 to select one setting mode from multiple setting modes. The execution unit 21 obtains the target positional relationships for multiple vehicle speed states based on selection operation information, which is information about the operation. The execution unit 21 also outputs a control command to the notification device 50 to notify the setting mode selected by the rider. For example, the rider of the host vehicle 100x uses the setting input device 13 to select one setting mode from among a first setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100x and the preceding vehicle 200 tends to approach each other in all vehicle speed conditions in which the positional relationship adjustment operation can be performed; a second setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100x and the preceding vehicle 200 tends to be more distant than in the first setting mode in all vehicle speed conditions in which the positional relationship adjustment operation can be performed; and a third setting mode, which is a setting mode in which the target positional relationship between the host vehicle 100x and the preceding vehicle 200 tends to be more distant than in the second setting mode in all vehicle speed conditions in which the positional relationship adjustment operation can be performed. The execution unit 21 stores a data set for each setting mode that defines the target positional relationship at each vehicle speed state, and acquires the target positional relationship at all vehicle speed states in which the positional relationship adjustment operation can be performed by switching the data set according to the selected setting mode. When the rider of the vehicle 100 selects the second setting mode, as shown in FIG. 6, the bottom and middle frames of the logo L0 that notifies the target positional relationship in the notification device 50 are highlighted.The system may be configured so that the rider of the host vehicle 100 selects one setting mode from two setting modes, or one setting mode from four or more setting modes. Furthermore, if the positional relationship adjustment operation is executable only at certain vehicle speed states, the target positional relationship may be set and acquired for only those vehicle speed states or for only some of those vehicle speed states. In other words, it is sufficient that the rider of the host vehicle 100 can collectively set the target positional relationship, which is the target for the positional relationship between the host vehicle 100 and the preceding vehicle 200, for multiple vehicle speed states, and the execution unit 21 can acquire the target positional relationship for multiple vehicle speed states.

[0047]

[0034] In the positional relationship adjustment operation performed when the group driving mode is enabled, the detection range Ra of the detection unit 11a may be widened or shifted to the opposite side (left side in the example shown in FIG. 5) of the deviation in the width direction of the driving lane L of the vehicle 100's driving position, compared to the positional relationship adjustment operation performed when the group driving mode is disabled. In addition, in the positional relationship adjustment operation performed when the group driving mode is enabled, the data set that defines the target positional relationship for each vehicle speed state (especially a high-speed state) may tend to be more distant than the positional relationship adjustment operation performed when the group driving mode is disabled. Alternatively, in a positional relationship adjustment operation performed while the group driving mode is enabled, the data set that defines the target positional relationship in each vehicle speed state (particularly, a low speed state or a slow-moving state) may tend to approach each other compared to a positional relationship adjustment operation performed while the group driving mode is disabled.

[0048]

[0035] Here, the execution unit 21 acquires the target positional relationship based on the selection operation information, and then acquires a corrected target positional relationship, which is the target positional relationship corrected. The execution unit 21 then automatically controls the braking force and / or driving force generated in the host vehicle 1000 without the rider operating the braking device 300 and the driving device 400, and performs a positional relationship adjustment operation to adjust the positional relationship between the host vehicle 1000 and the preceding vehicle 200 to the corrected target positional relationship. For example, the positional relationship adjustment operation controls the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100, as the positional relationship between the host vehicle 100 and the preceding vehicle 200, to approach the target value of that time difference set as the corrected target positional relationship, that is, it is an adaptive cruise control operation that targets the preceding vehicle 200 for speed tracking. Alternatively, the positional relationship adjustment operation is an operation that, while the rider is operating the drive unit 40, activates the braking device 30 to control the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100, as the positional relationship between the host vehicle 100 and the preceding vehicle 200, to approach the target value of that time difference set as the corrected target positional relationship. Alternatively, the positional relationship adjustment operation is an operation of operating the drive unit 40 while the rider is operating the braking device 30, in order to control the time difference between the passage of the preceding vehicle 200 and the passage of the vehicle 100, as the positional relationship between the vehicle 100 and the preceding vehicle 200, to approach the target value of that time difference set as the corrected target positional relationship. The execution unit 21 stores, for each setting mode, a data set that defines the corrected target positional relationship for each vehicle speed state, and acquires the corrected target positional relationship for all vehicle speed states in which the positional relationship adjustment operation can be performed by switching the data set according to the selected setting mode.The execution unit 21 acquires a corrected target positional relationship corresponding to the current or target vehicle speed state of the host vehicle 100, and generates braking force and / or driving force on the host vehicle 100 so that the positional relationship between the host vehicle 100 and the preceding vehicle 200 approaches the corrected target positional relationship. The time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 is a value obtained by dividing the relative distance between the preceding vehicle 200 and the host vehicle 100 by the current vehicle speed of the host vehicle 100, or a value that can be substantially converted to that value.

[0049]

[0036] For example, the corrected target positional relationship is obtained by correcting the target positional relationship through a setting operation by the rider of the host vehicle 100. The rider of the host vehicle 100 can correct at least a part of the target positional relationship that is set collectively for a plurality of vehicle speed states using the setting input device 13. The execution unit 21 obtains the corrected target positional relationship as the corrected target positional relationship, and adjusts the positional relationship between the host vehicle 100 and the preceding vehicle 200 to become the corrected target positional relationship in the positional relationship adjustment operation. The correction made by the rider of the host vehicle 100 is stored, and when the rider of the host vehicle 100 sets the target positional relationship collectively for a plurality of vehicle speed states, the target positional relationship is automatically changed to the corrected target positional relationship.

[0050]

[0037] For example, the corrected target positional relationship is corrected and acquired based on driving characteristic information, which is information on the driving characteristics of the rider of the host vehicle 100 when the positional relationship adjustment operation is not being performed. The execution unit 21 acquires, as driving characteristic information, the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 in each vehicle speed state when the positional relationship adjustment operation is not being performed. When the positional relationship adjustment operation is performed when the group driving mode is enabled, the execution unit 21 acquires, as driving characteristic information, the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 in each vehicle speed state when group driving is being performed without the positional relationship adjustment operation being performed. The execution unit 21 automatically corrects at least a portion of the target positional relationships set collectively for multiple vehicle speed states so that they approach the time difference acquired as driving characteristic information. The execution unit 21 acquires the corrected target positional relationship as the corrected target positional relationship, and in the positional relationship adjustment operation, adjusts the positional relationship between the host vehicle 100 and the preceding vehicle 200 to become the corrected target positional relationship. Before correcting the target positional relationship to the corrected target positional relationship, the execution unit 21 outputs a control command to the setting input device 13 to have the rider of the host vehicle 100 input whether or not he or she agrees to the execution of the correction, and if there is an agreement operation by the rider of the host vehicle 100, the execution unit 21 may correct the target positional relationship to the corrected target positional relationship based on the driving characteristic information. In other words, the execution unit 21 determines whether or not to make a correction based on the driving characteristic information based on agreement operation information, which is information on the agreement operation by the rider of the host vehicle 100 using the setting input device 13.

[0051]

[0038] For example, the execution unit 21 limits the corrected target position relationship to a specified range. The execution unit 21 limits the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 at each vehicle speed state, as the corrected target position relationship, so that it does not fall below a lower limit value. The lower limit value should be set to a value such that the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 does not make it difficult or impossible to avoid a collision between the host vehicle 100 and the preceding vehicle 200. The execution unit 21 limits the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 at each vehicle speed state, as the corrected target position relationship, so that it does not exceed an upper limit value. The upper limit value should be set to a value such that the time difference between the passage of the preceding vehicle 200 and the passage of the subject vehicle 100 does not make it difficult or impossible for the detection unit 11a to detect the preceding vehicle 200.

[0052]

[0039] For example, the rider of the host vehicle 100 can collectively set target positional relationships for multiple vehicle speed states, including a stopped state. The rider of the host vehicle 100 can then correct the target positional relationship set for the stopped state using the setting input device 13. In other words, in the positional relationship adjustment operation, the execution unit 21 adjusts the positional relationship between the host vehicle 100 and the preceding vehicle 200 when the host vehicle 100 stops to the corrected target positional relationship. The corrected target positional relationship acquired for a vehicle speed state in which the vehicle speed exceeds a reference value is the time difference between the passage of the preceding vehicle 200 and the passage of the subject vehicle 100, and the corrected target positional relationship acquired for a vehicle speed state in which the vehicle speed is below the reference value (particularly a slow-moving state) is the relative distance between the subject vehicle 100 and the preceding vehicle 200. In other words, in the positional relationship adjustment operation, the positional relationship between the subject vehicle 100 and the preceding vehicle 200 is adjusted so as to approach the time difference corrected as the corrected target positional relationship until the vehicle speed decreases and reaches the reference value, and after the vehicle speed decreases and falls below the reference value, the positional relationship between the subject vehicle 100 and the preceding vehicle 200 is adjusted so as to approach the relative distance corrected as the corrected target positional relationship.

[0053] <Operation of the rider assistance system> The operation of the rider assistance system according to the embodiment will be described. Fig. 7 is a diagram showing the operation flow of the control device of the rider assistance system according to the embodiment of the present invention.

[0054]

[0041] The execution unit 21 of the control device 20 executes the operation flow shown in Figure 7 while the vehicle 100 is traveling.

[0055] [ 0 0 4 2 ]

[0056] (Acquisition step) In step S101, the execution unit 21 acquires positional relationship information, which is actual measurement information of the positional relationship between the host vehicle 100 and the preceding vehicle 200, while the host vehicle 100 is traveling. The execution unit 21 acquires the target positional relationship for multiple vehicle speed states based on selection operation information, which is information on an operation by the rider of the host vehicle 100 to select one setting mode from multiple setting modes for collectively setting the target positional relationship between the host vehicle 100 and the preceding vehicle 200 for multiple vehicle speed states. In addition, the execution unit 21 acquires corrected target positional relationships in which the target positional relationship for at least some of the multiple vehicle speed states has been corrected. In addition, the execution unit 21 acquires various information as necessary.

[0057] [ 0 0 4 3 ]

[0058] (Control operation step) In step S102, the execution unit 21 automatically controls the braking force and / or driving force generated in the host vehicle 100, and performs an operation to adjust the positional relationship between the host vehicle 100 and the preceding vehicle 200 to a corrected target positional relationship as a positional relationship adjustment operation. In addition, the execution unit 21 causes the notification device 50 to perform a notification operation as necessary in the positional relationship adjustment operation.

[0059]

[0044] <Effects of the Rider Assistance System> The effects of the rider assistance system according to the embodiment will be described. In the rider assistance system 1, in the positional relationship adjustment operation, the execution unit 21 acquires the target positional relationship for a plurality of vehicle speed states based on selection operation information, which is information on an operation performed by the rider of the host vehicle 100 to select one setting mode from a plurality of setting modes for collectively setting the target positional relationship between the host vehicle 100 and the preceding vehicle 200 for a plurality of vehicle speed states. The execution unit 21 then acquires a corrected target positional relationship in which the target positional relationship for at least some of the plurality of vehicle speed states has been corrected, and adjusts the positional relationship between the host vehicle 100 and the preceding vehicle 200 to the corrected target positional relationship. Therefore, in the positional relationship adjustment operation, the feasibility of positioning the host vehicle 100 at a position preferred by the rider can be improved.

[0060]

[0045] Although the embodiments have been described above, only a part of the embodiments may be implemented, or parts of the embodiments may be combined, or parts of the embodiments may be changed into different forms. In other words, the present invention is not limited to the description of the embodiments.

[0061]

[0046] For example, in the embodiment, for all vehicle speed conditions in which the positional relationship adjustment operation can be performed, or for vehicle speed conditions in which the vehicle speed exceeds a reference value, the time difference between the passage of the preceding vehicle 200 and the passage of the host vehicle 100 is obtained as the corrected target positional relationship, and the positional relationship between the host vehicle 100 and the preceding vehicle 200 is adjusted to approach that time difference. However, instead of the time difference, the relative distance between the host vehicle 100 and the preceding vehicle 200 may be obtained as the corrected target positional relationship, and the positional relationship between the host vehicle 100 and the preceding vehicle 200 may be adjusted to approach that relative distance.

[0062] For example, the execution unit 21 may output a control command to the notification device 50 to notify the rider of information on the corrected target positional relationship. The notification device 50 may display how the target positional relationship has been corrected around the logo L0. Alternatively, the notification device 50 may change the shape of the highlighted portion of the logo L0 depending on how the target positional relationship has been corrected.

[0063] [Explanation of symbols]

[0064] [ 0 0 4 8 ]

[0065] 1 Rider assistance system, ! 1 Surrounding environment detection device, 11a detection unit, 12 Vehicle behavior detection device, 13 Setting input device, 14 Communication device, 15 Positioning device, 20 Control device, 21 Execution unit, 30 Braking device, 40 Drive device, 50 Notification device, 100 Own vehicle, 2000 Leading vehicle, 300 Saddle-type vehicle, R a Detection range, L Driving lane, L0 Logo, VL 1, VL 2 Convoy.

Claims

[Document name] Scope of claims

1. A control device (20) for a rider assistance system (1) includes an execution unit (21) that executes a positional relationship adjustment operation, which is an operation of adjusting a positional relationship between a host vehicle (100) that is a saddle-ride type vehicle (300) and a preceding vehicle (200) by automatically controlling a braking force and / or a driving force generated in the host vehicle (100) while the host vehicle (100) is traveling, and the execution unit (21) executes, in the positional relationship adjustment operation, a positional relationship adjustment operation based on selection operation information that is information on an operation by a rider of the host vehicle (100) to select one setting mode from a plurality of setting modes for collectively setting a target positional relationship between the host vehicle (100) and the preceding vehicle (200) for a plurality of vehicle speed states, the control device acquires the target positional relationship in a number of vehicle speed states, acquires a corrected target positional relationship in which the target positional relationship in at least a part of the plurality of vehicle speed states is corrected, and adjusts the positional relationship between the host vehicle (100) and the preceding vehicle (200) to the corrected target positional relationship.

2. A control device as described in claim 1, wherein the target positional relationship is corrected by a setting operation by the rider, and the corrected target positional relationship is obtained.

3. The control device according to claim 1, wherein the target positional relationship is corrected based on driving characteristic information, which is information about the riding characteristics of the rider in a state in which the positional relationship adjustment operation is not being performed, and the corrected target positional relationship is acquired.

4. The control device according to claim 3, wherein the execution unit (21) determines whether or not to make a correction based on the driving characteristics information based on approval operation information which is information on an approval operation by the rider.

5. The control device according to claim 1, wherein the execution unit (21) limits the corrected target positional relationship to a specified range.

6. The control device as described in claim 5, wherein the specified range has a lower limit value. [Claim?] The control device according to claim 5, wherein the specified range has an upper limit value.

8. The control device according to claim 1, wherein the execution unit (21) adjusts the positional relationship between the host vehicle (100) and the preceding vehicle (200) when the host vehicle (100) stops to the corrected target positional relationship in the positional relationship adjustment operation.

9. The control device according to claim 1, wherein the corrected target positional relationship is a time difference between the passage of the preceding vehicle (200) and the passage of the host vehicle (100). [Claim 1 〇] The corrected target position relationship is the time difference 100 150 150 for the vehicle speed state in which the vehicle speed exceeds a reference value, and is the time difference 100 150 150 for the vehicle speed state in which the vehicle speed is below the reference value. The control device according to claim 9, wherein the vehicle speed is a relative distance to a traveling vehicle (200).

11. The control device according to any one of claims 1 to 10, wherein the positional relationship adjustment operation is performed in a state in which a group driving mode is enabled, which is a mode for executing a control operation specialized for a state in which the host vehicle (100) and another saddle-ride type vehicle (300) are traveling in a group, and the preceding vehicle (200) is the other saddle-ride type vehicle (300) that is traveling in the group.

12. The control device according to claim 3 or 4, wherein the positional relationship adjustment operation is executed in a state where a group driving mode is enabled, which is a mode for executing a control operation specialized for a state where the host vehicle (100) and another saddle type vehicle (300) are traveling in a group, the preceding vehicle (200) is the other saddle type vehicle (300) performing the group traveling, and the driving characteristic information is information of the driving characteristic in a state where the group traveling is performed without the positional relationship adjustment operation being executed.

13. A control method for a rider assistance system (1), comprising: an execution unit (21) of a control device (20) automatically controls a braking force and / or a driving force generated in a host vehicle (100), which is a saddle-ride type vehicle (300), while the host vehicle (100) is traveling, to execute a positional relationship adjustment operation that is an operation of adjusting a positional relationship between the host vehicle (100) and a preceding vehicle (200), and the execution unit (21) executes, in the positional relationship adjustment operation, a positional relationship adjustment operation based on selection operation information that is information on an operation by a rider of the host vehicle (100) to select one setting mode from a plurality of setting modes for collectively setting a target positional relationship between the host vehicle (100) and the preceding vehicle (200) for a plurality of vehicle speed states, the target positional relationship in a number of vehicle speed states is acquired, a corrected target positional relationship is acquired in which the target positional relationship in at least a part of the vehicle speed states is corrected, and the positional relationship between the host vehicle (100) and the preceding vehicle (200) is adjusted to the corrected target positional relationship.

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