Control device and control method

Abstract

The present invention provides a control device and a control method that are capable of improving the safety of a saddled vehicle when the saddled vehicle is being moved in a non-travel state. The control device is for a rider assistance system, said control device comprising an execution unit that, when the saddled vehicle is travelling, executes a first rider assist operation for assisting with driving by a rider of the saddled vehicle on the basis of an output result of a surrounding environment sensor mounted on the saddled vehicle, wherein: the first rider assist operation is prohibited when the saddled vehicle is in a non-travel state; and, when the saddled vehicle is being moved in a non-travel state, the execution unit executes a second rider assist operation for assisting with avoidance of a collision between the saddled vehicle and an object located in the surroundings of the saddled vehicle on the basis of an output result of the surrounding environment sensor.

Description

[0001] [Document name] Statement

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

[0003] [Technical Field]

[0004] [. 0 0 1] This disclosure relates to a control device and a control method for a rider assistance system.

[0005] [Background technology]

[0006]

[002] Conventionally, technologies for assisting riders of saddle-ride vehicles such as motorcycles in driving have been known. For example, Patent Document 1 discloses a driver assistance system that can warn 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]

〇 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] [0 0 0 4] Meanwhile, technology that assists a rider in driving a saddle-ride type vehicle typically performs an operation to assist the rider in driving the saddle-ride type vehicle when the saddle-ride type vehicle is moving, and does not perform this operation when the saddle-ride type vehicle is not moving. As a result, when the rider moves the saddle-ride type vehicle in a non-moving state (for example, when the rider pushes or pulls the saddle-ride type vehicle), it is difficult for the rider to avoid a collision between the saddle-ride type vehicle and objects located around the saddle-ride type vehicle. Therefore, there is a demand for improving the safety of saddle-ride type vehicles when the saddle-ride type vehicle is moving in a non-moving state.

[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 improve the safety of a saddle-ride type vehicle when the saddle-ride type vehicle is moving in a non-driving state.

[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 has an execution unit that executes a first rider assistance operation to assist the rider of the saddle-ride type vehicle in driving the vehicle based on the output results of a surrounding environment sensor mounted on the saddle-ride type vehicle when the vehicle is traveling, the first rider assistance operation being prohibited when the saddle-ride type vehicle is not traveling, and the execution unit further executes a second rider assistance operation to assist the rider in avoiding a collision between the saddle-ride type vehicle and an object located around the saddle-ride type vehicle based on the output results of the surrounding environment sensor when the saddle-ride type vehicle is moving in a not traveling state.

[0017]

[0007] A control method according to the present invention is a control method for a rider assistance system, wherein an execution unit of a control device, when the saddle-ride type vehicle is traveling, executes a first rider assistance operation to assist the rider of the saddle-ride type vehicle in driving, based on the output result of a surrounding environment sensor mounted on the saddle-ride type vehicle, and the first rider assistance operation is prohibited when the saddle-ride type vehicle is not traveling, and further, the execution unit of the control device, when the saddle-ride type vehicle is traveling in a not traveling state, executes a second rider assistance operation to assist the rider in avoiding a collision between the saddle-ride type vehicle and an object located around the saddle-ride type vehicle, based on the output result of the surrounding environment sensor.

[0018] [Effects of the Invention]

[0019]

[0008] According to the present invention, a control device and a control apparatus are provided that can improve the safety of a saddle-ride type vehicle when the saddle-ride type vehicle is moving in a non-driving state.

[0020] [Brief explanation of the drawings]

[0021] [ 0 0 0 9 ]

[0022] [Figure 1] A schematic diagram showing the general configuration of a saddle-type 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. The surrounding environment information detected by the surrounding environment sensor 11 may be information related to the distance or direction to an object located around the saddle-riding type vehicle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the saddle-riding type vehicle 1 (e.g., the type of the object, the shape of the object, a mark attached to the object, etc.). Examples of the surrounding environment sensor 11 include radar, a lidar sensor, an ultrasonic sensor, a camera, etc. Furthermore, examples of the object include vehicles (e.g., two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, etc.), obstacles (e.g., trees, rocks, etc.), animals, people, etc.

[0024]

[0018] The notification unit 12 notifies the rider of information. Notification methods include, for example, visual notification and auditory notification. Examples of the notification unit 12 include a liquid crystal display, a lamp (for example, an indicator lamp), a buzzer, etc. The position at which the notification unit 12 is provided in the saddle-riding type vehicle 1 is not particularly limited. For example, the notification unit 12 may be provided near a mirror of the saddle-riding type vehicle 1, or may be provided forward of the handlebars of the saddle-riding type vehicle 1. The notification unit 12 may also be provided in clothing worn by the rider (such as a helmet or gloves).

[0025]

[0019] The control device 13 controls the rider assistance system 10. The control device 13 has the function of communicating with each device in the rider assistance system 10. Some or all of the control device 13 may be configured with a microcomputer, microprocessor unit, or the like, or may be configured with updatable firmware, etc. Some or all of the control device 13 may be a program module executed by commands from a CPU, etc. In the rider assistance system 10, the control device 13 may be integrated into one unit, or may be divided into multiple units.

[0026]

[0020] Figure 2 is a block diagram showing an example of the functional configuration of the control device 13. As shown in Figure 2, the control device 13 has, for example, an acquisition unit 13a, a detection unit 13b, and an execution unit 13c. Note that the acquisition unit 13a and the detection unit 13b are optional components.

[0027]

[0021] The acquisition unit 13a acquires information from each device included in the rider assistance system 10 and outputs it to the detection unit 13b, execution unit 13c, etc. For example, the acquisition unit 13a acquires ambient environment information from the ambient environment sensor 11. Also, for example, if the saddle-ride type vehicle 1 is provided with a communication device capable of communicating with an external device, the acquisition unit 13a may acquire various types of information by performing wireless communication using the communication device. Note that in this specification, acquisition of information may include extraction or generation of information.

[0028]

[0022] The detection unit 13b detects other vehicles located around the saddle-ride type vehicle 1 based on the output result of the surrounding environment sensor 11. The detection unit 13b preferably detects other vehicles located in blind spots of the saddle-ride type vehicle 1. For example, the detection unit 13b detects the other vehicles based on the surrounding environment information output from the surrounding environment sensor 11 and acquired by the acquisition unit 13a.

[0029]

[0023] Figure 3 is a schematic diagram showing an example of how other vehicles located around (behind and diagonally behind) saddle-riding vehicle 1 are detected. In the example of Figure 3, saddle-riding vehicle 1 is traveling in lane L1, which is the right-hand lane of adjacent lanes L1 and L2. Lane L1 corresponds to the traveling lane of saddle-riding vehicle 1. Lane L2 corresponds to the adjacent lane adjacent to the traveling lane (lane L1) of saddle-riding vehicle 1. Behind saddle-riding vehicle 1 is vehicle 2 traveling in lane L1. To the left rear of saddle-riding vehicle 1 is vehicle 3 traveling in lane L2. Vehicles 2 and 3 are four-wheeled automobiles. To the left rear of saddle-riding vehicle 1 is vehicle 4 traveling on lane boundary LV between lane L1 and lane L2. Vehicle 4 is a two-wheeled motorcycle, passing between vehicles 2 and 3.

[0030]

[0024] In the example of Fig. 3, the detection range 11a of the surrounding environment sensor 11 spreads radially rearward from the rear of the saddle-ride type vehicle 1, and vehicles 2 to 4 are located within the detection range 11a of the surrounding environment sensor 11. At this time, the detection unit 13b can detect vehicles 2 to 4 as other vehicles located around the saddle-ride type vehicle 1 based on the output result of the surrounding environment sensor 11.

[0031]

[0025] In Fig. 3, vehicles 2 and 3 are four-wheeled vehicles, and vehicle 4 is a two-wheeled vehicle, but this is not limited thereto. Vehicles 2 and 3 may be, for example, two-wheeled vehicles or three-wheeled vehicles, and vehicle 4 may be, for example, a three-wheeled vehicle or a four-wheeled vehicle.

[0032]

[0026] While the saddle-ride type vehicle 1 is traveling, the execution unit 13c executes a first rider assistance operation to assist the rider of the saddle-ride type vehicle 1 in driving, based on the output results of the surrounding environment sensor 11 mounted on the saddle-ride type vehicle 1.

[0033]

[0027] The first rider assistance operation is prohibited when the saddle riding type vehicle 1 is moving at a low speed. In other words, the first rider assistance operation is prohibited at least when the saddle riding type vehicle 1 is not moving. Furthermore, when the saddle riding type vehicle 1 is moving and not moving, the execution unit 13c executes a second rider assistance operation that assists in avoiding a collision between the saddle riding type vehicle 1 and an object located around the saddle riding type vehicle 1 based on the output result of the surrounding environment sensor 11. The first rider assistance operation and the second rider assistance operation will be described in detail below.

[0034]

[0028] <Operation of the control device> The operation of the control device 13 according to the embodiment of the present invention will be described with reference to Figs. 4 and 5.

[0035]

[0029] Fig. 4 is a flowchart showing an example of a process flow (control flow) performed by the control device 13. Step S101 in Fig. 4 corresponds to the start of the control flow shown in Fig. 4. Step S108 in Fig. 4 corresponds to the end of the control flow shown in Fig. 4.

[0036]

[0030] After the control flow in Fig. 4 starts, in step S102, the execution unit 13c determines whether or not to execute the first rider assistance operation. There are no particular limitations on the method for determining whether or not to execute the first rider assistance operation.

[0037]

[0031] For example, the execution unit 13c may determine not to perform the first rider assistance operation when the traveling speed of the saddle riding type vehicle 1 is lower than a reference speed. In other words, at this time, the execution unit 13c may determine to perform the first rider assistance operation when the traveling speed of the saddle riding type vehicle 1 is equal to or higher than a reference speed. Also, for example, the execution unit 13c may determine not to perform the first rider assistance operation when the saddle riding type vehicle 1 is not in a traveling state (when in a non-traveling state). In other words, at this time, the execution unit 13c may determine to perform the first rider assistance operation when the saddle riding type vehicle 1 is in a traveling state.

[0038]

[0032] In step S102, if the execution unit 13C determines that the first rider assistance operation should be performed, the control device 13 performs processing to perform the first rider assistance operation (step S103 and step S104).

[0039]

[0033] In step S103, the execution unit 13c detects vehicles located around the saddle-ride type vehicle 1 based on the output result of the surrounding environment sensor 11. If the control device 13 includes a detection unit 13b, the detection may be performed by the detection unit 13. In the example of Fig. 3 described above, the detection unit 13b detects vehicles 2 to 4 as vehicles located around the saddle-ride type vehicle 1, for example, based on the output result of the surrounding environment sensor 11.

[0040]

[0034] After step S103, in step S104, the execution unit 13c executes the first rider assistance operation. The execution unit 13c executes the first rider assistance operation based on, for example, information about vehicles located around the saddle riding type vehicle 1 detected based on the output result of the surrounding environment sensor 11 in step S103.

[0041]

[0035] The first rider assistance operation is not particularly limited as long as it is an operation that assists the rider in driving, and is executed based on the output result of the surrounding environment sensor 11. The first rider assistance operation is, for example, an operation that activates the notification unit 12 to notify the rider of the presence of another vehicle located around the saddle riding type vehicle 1. The execution unit 13c executes the first rider assistance operation, for example, when the detection unit 13b detects another vehicle located around the saddle riding type vehicle 1.

[0042]

[0036] Furthermore, when the detection unit 13b (or the execution unit 13c) detects another vehicle located in a blind spot of the saddle riding type vehicle 1, the first rider assistance operation is preferably an operation to notify the rider of the presence of the other vehicle located in the blind spot of the saddle riding type vehicle 1. By the first rider assistance operation being such a notification operation, the rider can be made aware of the presence or approach of another vehicle located in the blind spot of the saddle riding type vehicle 1.

[0043]

[0037] The output result of the ambient environment sensor 11 used to execute the first rider assistance operation may be ambient environment information directly output from the ambient environment sensor 11 to the execution unit 13c. In addition, if the control device 13 has an acquisition unit 13a, the output result may be ambient environment information acquired by the acquisition unit 13a.

[0044]

[0038] If in step S102 the execution unit 13C determines not to execute the first rider assistance operation, in step S105 the execution unit 13C prohibits the first rider assistance operation.

[0045]

[0039] After step S105, in step S106, the execution unit 13c may determine whether to execute the second rider assistance operation. The method for determining whether to execute the second rider assistance operation is not particularly limited.

[0046] For example, the execution unit 13c may execute (determine to execute) the second rider assistance operation when it is determined that the traveling speed of the saddle riding type vehicle 1 is lower than a reference speed. In other words, in this case, the execution unit 13c does not execute (determine not to execute) the second rider assistance operation when it is determined that the traveling speed of the saddle riding type vehicle 1 is higher than a reference speed. The traveling speed may be measured, for example, using a wheel speed sensor mounted on the saddle riding type vehicle 1. The reference speed may be set arbitrarily, for example, 2 km / h. The execution unit 13c may determine whether the traveling speed is lower than a reference speed.

[0047]

[0041] Furthermore, for example, the execution unit 13c may execute (or determine to execute) the second rider assistance operation when it is determined that the saddle riding type vehicle 1 is moving backward while not traveling. The backward movement of the saddle riding type vehicle 1 may be detected, for example, by a rotation sensor provided on the wheel of the saddle riding type vehicle 1. The determination of backward movement of the saddle riding type vehicle 1 may be made by the execution unit 13c.

[0048]

[0042] Furthermore, for example, the execution unit 13c may execute (or determine to execute) the second rider assistance operation when the ignition switch (not shown) mounted on the saddle riding type vehicle 1 is on and the drive source (not shown) of the saddle riding type vehicle 1 is not being driven and the saddle riding type vehicle 1 is moving in a non-traveling state. This makes it easier to avoid a collision between the saddle riding type vehicle 1 and an object located around the saddle riding type vehicle 1 even when the drive source of the saddle riding type vehicle 1 is not being driven.

[0043] In this manner, the execution unit 13c may execute (or determine to execute) the second rider assistance operation when it is determined that the drive source is not being driven. Whether the drive source is being driven can be determined based on the results detected by various sensors provided in the drive source. The determination of whether the drive source is being driven can be made by the execution unit 13c.

[0049]

[0044] After step S105 (or step S106), in step S107, the execution unit 13c executes a second rider assistance operation to assist in avoiding a collision between the saddle-ride type vehicle 1 and an object located around the saddle-ride type vehicle 1, based on the output result of the surrounding environment sensor 11, when the saddle-ride type vehicle is moving in a non-traveling state.

[0050]

[0045] The output result of the ambient environment sensor 11 used to execute the second rider assistance operation may be ambient environment information output directly from the ambient environment sensor 11 to the execution unit 13c. Furthermore, if the control device 13 has an acquisition unit 13a, the output result may be ambient environment information acquired by the acquisition unit 13a. Furthermore, for example, if the saddle-ride type vehicle 1 is provided with a communication device capable of communicating with an external device (for example, an ambient environment sensor mounted on another vehicle, or an ambient environment sensor provided on road equipment), in addition to the output result, various information obtained by wireless communication using the communication device may be used to execute the second rider assistance operation.

[0051] The type of the second rider assistance action is not particularly limited. Examples of the second rider assistance action include an action to notify the rider and an action to brake the saddle riding type vehicle 1. The above-mentioned notification action is, for example, an action to operate the notification unit 12 to notify the rider of the presence of the above-mentioned object. Examples of the above-mentioned object include vehicles (for example, two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, etc.), obstacles (for example, trees, rocks, etc.), animals, people, etc. In this case, it is preferable that the notification unit 12 to be operated is the same as the notification unit 12 used when the first rider assistance action is an notification action for the rider. Specific examples of the above-mentioned notification operation include an operation of sounding a warning sound to the rider, an operation of displaying a predetermined display on a liquid crystal display mounted on the saddle-ride type vehicle 1, an operation of turning on or blinking an indicator lamp mounted on the mirror of the saddle-ride type vehicle 1, an operation of making a predetermined notification from a notification unit mounted on the rider's helmet, etc.

[0052]

[0047] The second rider assistance operation is preferably an operation that is executed based on the output result of the surrounding environment sensor 11 regarding the surrounding environment information behind and / or diagonally behind the saddle riding type vehicle 1. In this case, the second rider assistance operation is more preferably an operation that assists in avoiding a collision between the saddle riding type vehicle 1 and an object located behind and / or diagonally behind the saddle riding type vehicle 1 based on the output result of the surrounding environment sensor 11 when the saddle riding type vehicle 1 is reversing in a non-traveling state.

[0053]

[0048] Fig. 5 is a schematic diagram showing an example of how the surrounding environment sensor 11 detects an object (vehicle 5) located diagonally rearward of the saddle-ride type vehicle 1 when the saddle-ride type vehicle 1 is reversing and not in a traveling state. In the example of Fig. 5, the object (vehicle 5) is a four-wheeled motor vehicle, but as mentioned above, the type of object is not limited to this. In the example of Fig. 5, the saddle-ride type vehicle 1 is moving backward (backing up) from a parking space S toward a traveling lane L3 in a parking lot. The detection range 11a of the surrounding environment sensor 11 spreads radially from the rear of the saddle-ride type vehicle 1 toward the rear, and the vehicle 5 is located within the detection range 11a of the surrounding environment sensor 11. As a result, the surrounding environment sensor 11 detects an object (vehicle 5) located diagonally rearward of the saddle-ride type vehicle 1, and the second rider assistance operation is executed based on the detection result. As a result, it is possible to avoid a collision between the saddle-ride type vehicle 1 that is reversing and the object (vehicle 5) located diagonally rearward of the saddle-ride type vehicle 1.

[0049] As shown in the example of Fig. 5, when the saddle-ride type vehicle 1 is reversing while not moving, it is difficult for the rider to visually check the rear and diagonally rearward, so the second rider assistance operation has a significant effect in improving the safety of the saddle-ride type vehicle 1.

[0054]

[0050] The saddle-type vehicle 1 may be moved backward by manual operation by the rider or by using a reverse gear function.

[0055]

[0051] At this time, it is preferable that the execution unit 13c executes the second rider assistance operation when it is determined that the saddle-ride type vehicle 1 is not moving and is moving backward.

[0056]

[0052] In step S107, the execution unit 13c may execute the second rider assistance action if it is determined that the positional relationship between the saddle riding type vehicle 1 and an object located around the saddle riding type vehicle 1 satisfies a criterion. This prevents the second rider assistance action from being executed when the positional relationship does not satisfy the criterion. Examples of the positional relationship include the relative distance between the saddle riding type vehicle 1 and the object, and the possibility of collision between the saddle riding type vehicle 1 and the object. Examples of the possibility of collision include TTC (Time TO Collision) and ETTC (Enhanced Time TO Collision). When the positional relationship is the possibility of collision, for example, the execution unit 13c may execute the second rider assistance action if it is determined that the possibility of collision is higher than a criterion.

[0057]

[0053] The positional relationship can be determined from the output of the surrounding environment sensor 11. Whether the collision possibility is higher than a reference value can be determined by the execution unit 13c.

[0058]

[0054] After step S107, the control device 13 may perform step S106 again, or may end the process. FIG. 4 shows a flow in which the control device 13 performs step S106 again after step S107.

[0059]

[0055] If it is determined in step S106 that the second rider assistance operation will not be performed, the control device 13 terminates processing.

[0060]

[0056] As described above, an example of the processing performed by the control device 13 has been described with reference to Figures 4 to 5. However, the processing performed by the control device 13 is not limited to the above example, and the control device 13 may perform processing other than the above processing.

[0061] For example, as the second rider assistance operation, the execution unit 13c may execute a notification operation for an object (e.g., a vehicle, a person, etc.) located around the saddle riding type vehicle 1 that is detected by the surrounding environment sensor 11. This makes it possible to prevent the vehicle from approaching the saddle riding type vehicle 1, for example, when the saddle riding type vehicle 1 is moving in a non-traveling state. The execution unit 13c may determine whether the object is a vehicle or a person.

[0062]

[0058] <Effects of the control device> The effects of the control device 13 according to the embodiment of the present invention will be described.

[0063]

[0059] In the control device 13 that prohibits a first rider assistance operation that assists the rider in driving when the saddle-ride type vehicle 1 is not in a traveling state, the execution unit 13c executes a second rider assistance operation that assists in avoiding a collision between the saddle-ride type vehicle 1 and an object located around the saddle-ride type vehicle 1 based on the output result of the surrounding environment sensor 11 when the saddle-ride type vehicle 1 is moving in a non-traveling state.

[0064] As described above, conventionally, the first rider assistance operation that assists the rider in driving is executed when the saddle-ride type vehicle 1 is moving, but is not usually executed when the vehicle is moving in a non-moving state. In contrast, in the present invention, the execution unit 13 c included in the control device 13 executes the second rider assistance operation when the saddle-ride type vehicle 1 is moving in a non-moving state. This makes it easier for the rider to avoid collision with objects located around the saddle-ride type vehicle 1, even when the saddle-ride type vehicle 1 is moving in a non-moving state. As a result, the safety of the saddle-ride type vehicle 1 can be improved when the saddle-ride type vehicle 1 is moving in a non-moving state.

[0065]

[0061] In the control device 13, the first rider assistance operation is preferably an operation to notify the rider of the presence of another vehicle located in the blind spot of the saddle riding type vehicle. This makes it possible to make the rider aware of the presence or approach of another vehicle located in the blind spot of the saddle riding type vehicle 1 while the saddle riding type vehicle 1 is traveling. As a result, it is possible to improve the safety of the saddle riding type vehicle 1 while the saddle riding type vehicle 1 is traveling. This also makes it possible to share a sensor that assists with the blind spot with a sensor used for the second rider assistance operation.

[0066]

[0062] In the control device 13, the second rider assistance operation is preferably an operation that is executed based on the output result of the surrounding environment sensor 11 relating to surrounding environment information behind and / or diagonally behind the saddle riding type vehicle 1. This makes it easier to avoid a collision between the saddle riding type vehicle 1 and an object that is present behind and / or diagonally behind the saddle riding type vehicle 1 and that is particularly difficult for the rider to recognize when the saddle riding type vehicle 1 is moving in a non-traveling state.

[0067] Therefore, in this embodiment, it is preferable that the execution unit 13 c executes the second rider assistance operation when it is determined that the saddle riding type vehicle 1 is moving backward while not moving. When the saddle riding type vehicle 1 is moving backward while not moving, it is difficult for the rider to visually check the area behind and diagonally behind. Therefore, the effect of improving the safety of the saddle riding type vehicle 1 when the saddle riding type vehicle 1 is not moving is more pronounced.

[0068]

[0064] In the control device 13, it is preferable that the execution unit 13c executes the second rider assistance operation when it is determined that the moving speed of the saddle riding type vehicle 1 is lower than the reference speed. This prevents the second rider assistance operation from being executed when the saddle riding type vehicle 1 is traveling.

[0069]

[0065] In the control device 13, it is preferable that the execution unit 13c executes the second rider assistance operation when the ignition switch mounted on the saddle-ride type vehicle 1 is on and the drive source of the saddle-ride type vehicle is not being driven, and the saddle-ride type vehicle 1 is moving in a non-traveling state. This makes it easier to avoid a collision between the saddle-ride type vehicle 1 and an object located around the saddle-ride type vehicle 1, even when the drive source of the saddle-ride type vehicle 1 is not being driven.

[0070] In this embodiment, the execution unit 13 c preferably executes the second rider assistance operation when it is determined that the driving source is not operating. This prevents the second rider assistance operation from being executed when the driving source of the saddle riding type vehicle 1 is operating.

[0071]

[0067] In the control device 13, the execution unit 13c preferably executes the second rider assistance operation when it is determined that the positional relationship between the saddle riding type vehicle 1 and the target satisfies a criterion. This prevents the second rider assistance operation from being executed when the positional relationship does not satisfy the criterion.

[0072]

[0068] In the control device 13, the second rider assistance operation preferably includes an operation of notifying the rider. This makes it possible to notify the rider of the presence of an object located around the saddle riding type vehicle 1 while the saddle riding type vehicle 1 is moving in a non-traveling state, thereby making the rider aware of the presence of the object. As a result, the safety of the saddle riding type vehicle 1 while the saddle riding type vehicle 1 is traveling can be further improved.

[0073]

[0069] In the control device 13, the second rider assistance operation preferably includes an operation to brake the saddle-ride type vehicle 1. This makes it easier to avoid a collision between the saddle-ride type vehicle 1 and an object located around the saddle-ride type vehicle 1 when the saddle-ride type vehicle 1 is moving in a non-traveling state. As a result, the safety of the saddle-ride type vehicle 1 when the saddle-ride type vehicle 1 is traveling can be further improved.

[0074]

[0070] The control device 13 of the present invention may be implemented by combining these preferred aspects.

[0075]

[0071] Furthermore, the present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0076] [Explanation of symbols]

[0077] [ 0 0 7 2 ]

[0078] 1 saddle-ride type vehicle, 2 vehicle, 3 vehicle, 4 vehicle, 5 vehicle, 10 rider assistance system, 11 surrounding environment sensor, 11a detection range, 12 notification unit, 13 control device, 13a acquisition unit, 13b detection unit, 13c execution unit, 14 detection range, L1 lane, L2 lane, L3 lane, LV lane boundary, S parking space

Claims

[Document name] Scope of claims

1. A control device (13) for a rider assistance system (10), comprising an execution unit (13c) that executes a first rider assistance operation to assist a rider of a saddle-ride type vehicle (1) in driving the saddle-ride type vehicle (1) based on an output result of an ambient environment sensor (11) mounted on the saddle-ride type vehicle (1), the first rider assistance operation being prohibited when the saddle-ride type vehicle (1) is not driving, and the execution unit (13c) further executes a second rider assistance operation to assist the rider in avoiding a collision between the saddle-ride type vehicle (1) and an object located around the saddle-ride type vehicle (1) based on the output result of the ambient environment sensor (11) when the saddle-ride type vehicle (1) is moving in a non-driving state. 3).

2. The control device (13) according to claim 1, wherein the first rider assistance operation is an operation of notifying the rider of the presence of another vehicle located in a blind spot of the saddle-riding type vehicle (1).

3. The control device (13) according to claim 1 or 2, wherein the second rider assistance operation is an operation executed based on an output result of the surrounding environment sensor (11) relating to surrounding environment information behind and / or diagonally behind the saddle-riding type vehicle (1).

4. The control device (13) according to claim 3, wherein the second rider assistance operation is an operation that assists in avoiding a collision between the saddle-ride type vehicle (1) and the object located rearward and / or diagonally rearward of the saddle-ride type vehicle (1) based on the output result of the surrounding environment sensor (11) when the saddle-ride type vehicle (1) is reversing in a non-traveling state.

5. The control device (13) according to claim 4, wherein the execution unit (13c) executes the second rider assistance operation when it is determined that the saddle-ride type vehicle (1) is moving backward in a non-traveling state.

6. The control device (13) according to claim 1 or 2, wherein the execution unit (13c) executes the second rider assistance operation when it is determined that the moving speed of the saddle riding type vehicle (1) is lower than a reference speed.

7. The control device (13) according to claim 1 or 2, wherein the execution unit (13c) executes the second rider assistance operation when the saddle-ride type vehicle (1) is moving in a non-traveling state with an ignition switch mounted on the saddle-ride type vehicle (1) on and a drive source of the saddle-ride type vehicle (1) not being driven.

8. The control device (13) according to claim 2, wherein the execution unit (13c) executes the second rider assistance operation when it is determined that the drive source is not operating.

9. The control device (13) according to claim 1 or 2, wherein the execution unit (13c) executes the second rider assistance operation when it is determined that the positional relationship between the saddle-ride type vehicle (1) and the target satisfies a criterion. [Claim 1 ○] The second rider assistance action includes an informing action for the rider. A control device (13) according to claim 1 or 2.

11. A control device (13) as described in claim 1 or 2, wherein the second rider assistance operation includes an operation of braking the saddle-ride type vehicle (1).

12. A control method for a rider assistance system (io), wherein an execution unit (13c) of a control device (13) executes a first rider assistance operation to assist a rider of the saddle-ride type vehicle (1) in driving the saddle-ride type vehicle (1) based on an output result of an ambient environment sensor (11) mounted on the saddle-ride type vehicle (1), the first rider assistance operation being prohibited when the saddle-ride type vehicle (1) is not driving, and further, the execution unit (13c) executes a second rider assistance operation to assist the rider in avoiding a collision between the saddle-ride type vehicle (1) and an object located around the saddle-ride type vehicle (1) based on the output result of the ambient environment sensor (11) when the saddle-ride type vehicle (1) is moving in a non-driving state.

Images