Driving assistance system for saddle-riding type vehicle

Abstract

When an image capture device (200) has captured an image which includes one or more of a road sign, a road surface shape, a road condition, a display object, and a weather condition, a driving assistance system (S) for a saddle-riding type vehicle causes a notification device (69) to provide a notification. After having caused the notification device (69) to provide the notification, when an operation for changing the speed has not been detected by a vehicle speed change operation detection unit (104), the driving assistance system (S) performs control for changing the speed of a saddle-riding type vehicle (1). After having caused the notification device (69) to provide the notification, when the operation for changing the speed has been detected by the vehicle speed change operation detection unit (104), the driving assistance system (S) does not perform the control for changing the speed of the saddle-riding type vehicle (1).

Description

Driving assistance system for straddle-type vehicles

[0001] The present invention relates to a driving assistance system for a straddle-type vehicle.

[0002] In recent years, from the viewpoint of improving the safety of vehicles and the traffic environment in which the vehicles travel, research and development has been conducted on advanced driver-assistance systems (ADAS) that have a function of assisting the driving operation of a vehicle driver.

[0003] In such a situation, Patent Document 1 discloses a control system for a vehicle that can travel in a first traveling state that does not require driver operation and a second traveling state that does require driver operation. The control system of Patent Document 1 determines whether a transition from the first traveling state to the second traveling state is necessary, requests the driver to perform an operation if it is determined that the transition is necessary, determines whether the driver has performed an operation in response to the request, stops the vehicle at a predetermined position if it is determined that the driver has not performed an operation, and, if a lane change is required to stop the vehicle at the predetermined position, reduces the traveling speed of the host vehicle according to vehicle speeds specified for the first lane before the lane change and the second lane after the lane change.

[0004] Japanese Patent Application Laid-Open No. 2020-111092

[0005] However, according to the inventor's investigations, in Patent Document 1, the vehicle speed is changed when the vehicle transitions from a driving state in which no operation by the driver is required to a driving state in which operation is required, and there is room for improvement in terms of realizing safe and comfortable driving of saddle-type vehicles, regardless of whether operation by the driver is required.

[0006] An object of the present invention is to provide a driving assistance system for a saddle-type vehicle that can achieve safe and comfortable driving of the saddle-type vehicle in accordance with the surrounding environment and situation, regardless of whether or not operation by the driver is required.

[0007] In order to achieve the above object, one aspect of the present invention is a driving assistance system for a saddle-riding type vehicle to be mounted on a saddle-riding type vehicle, the system comprising: an imaging unit that captures an image of an area ahead of the saddle-riding type vehicle; a vehicle speed change operation detection unit that detects an operation to change the speed of the saddle-riding type vehicle; a notification unit that notifies the driver of the saddle-riding type vehicle; and a control unit that causes the notification unit to notify when an image including one or more of a road sign, a road surface shape, road conditions, a sign, and weather conditions is captured by the imaging unit, and that controls the saddle-riding type vehicle to change its speed if the vehicle speed change operation detection unit does not detect an operation to change its speed after the notification unit has notified the driver, but that does not control the saddle-riding type vehicle to change its speed if the vehicle speed change operation detection unit detects an operation to change its speed after the notification unit has notified the driver. Note that if the operation of the driving assistance system for a saddle-riding type vehicle is considered as a method, in another aspect, the present invention is a driving assistance method for a saddle-riding type vehicle.

[0008] According to a driving assistance system for a saddle-ride type vehicle according to one aspect of the present invention, safe and comfortable driving of the saddle-ride type vehicle can be achieved in accordance with the surrounding environment, situation, etc., regardless of whether or not operation by the driver is required.

[0009] Fig. 1 is a schematic diagram showing the right side of a saddle-ride type vehicle equipped with a driving assistance system for a saddle-ride type vehicle according to an embodiment of the present invention, and Fig. 2 is a block diagram showing the configuration of the driving assistance system for a saddle-ride type vehicle according to an embodiment of the present invention.

[0010] Hereinafter, a driving assistance system S for a saddle-ride type vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings as appropriate.

[0011] <Configuration of driving assistance system for saddle riding type vehicle> The configuration of a driving assistance system S for a saddle riding type vehicle according to an embodiment of the present invention will be described in detail with reference to Figures 1 and 2. In Figure 1, the x-axis and z-axis form a two-axis Cartesian coordinate system, with the forward direction indicated by the positive direction of the x-axis and the upward direction indicated by the positive direction of the z-axis.

[0012] The driving assistance system S for a straddle-type vehicle is mounted on a straddle-type vehicle 1 such as a motorcycle.

[0013] An engine 20, which is an internal combustion engine, is mounted as a drive source on a frame member 10, which is a framework member of the saddle-riding type vehicle 1. Note that the drive source mounted on the saddle-riding type vehicle 1 is not limited to the engine 20, which is an internal combustion engine, but may also be an electric motor, or a hybrid type that combines these.

[0014] The engine 20 is a water-cooled, four-stroke internal combustion engine. A crank angle sensor 23 is attached to a crankcase (not shown) of the engine 20. An engine temperature sensor 24 is attached to a cylinder block (not shown) of the engine 20. A spark plug 28 is attached to a head 26 of the engine 20, facing a combustion chamber (not shown) of the engine 20.

[0015] An intake pipe 30 is attached to a head 26 of the engine 20, and communicates with an intake port (not shown) of the engine 20. An intake pressure sensor 31 is attached to the intake pipe 30 on the head 26 side of the engine 20. A rotatable throttle valve 32 is attached to the intake pipe 30 upstream of the intake pressure sensor 31 so as to vary the intake air inflow cross-sectional area of ​​the intake passage in the intake pipe 30.

[0016] A throttle opening sensor 33 is attached to a housing (not shown) that houses the throttle valve 32. Although the throttle valve 32 is shown as an example of being driven to rotate by the rotation of an electric throttle motor 34, a configuration in which the throttle valve 32 is driven by a mechanical push-pull wire or the like instead of the throttle motor 34 may also be employed. A fuel injection valve 36 is attached to the intake pipe 30 on the head 26 side of the engine 20.

[0017] A handlebar support member 60 is connected to the frame member 10, and a bar-shaped handlebar 62 is attached to the handlebar support member 60. An accelerator grip 64 and an accelerator opening sensor 65 are attached to the right end of the handlebar 62. A front wheel brake lever 66 and a brake switch 67 are attached to the right end of the handlebar 62, facing the accelerator grip 64. A brake device 68 is also attached to the frame member 10. A rear wheel brake lever (not shown) and a brake switch 67 are attached to the left end of the handlebar 62. A rear wheel brake pedal may be provided instead of the rear wheel brake lever.

[0018] A front suspension member 72 is attached to the frame member 10, suspending a front wheel 73, which is a steered wheel. A vehicle speed sensor 74 is attached to the front suspension member 72. A front wheel brake 75 is attached to the front wheel 73, and is actuated via a brake device 68 in response to the gripping operation of a front wheel brake lever 66 or under the control of the driving assistance system S for a saddle-riding type vehicle. A rear suspension member 76 is attached to the frame member 10, suspending a rear wheel 77, which is a driving wheel. A rear wheel brake 78 is attached to the rear wheel 77, and is actuated via the brake device 68 in response to the gripping operation of a rear wheel brake lever (not shown) or under the control of the driving assistance system S for a saddle-riding type vehicle.

[0019] An imaging device 200 is mounted on the frame member 10 via a bracket or the like (not shown), and an alarm device 69 is also mounted on the frame member 10. A switch box (not shown) mounted on the frame member 10 is provided with switches and buttons for a horn, blinkers, etc. (not shown), as well as an adaptive cruise control switch group 61 that is operated by the driver to set or reset the vehicle speed and start or stop adaptive cruise control (ACC), which is a follow-up cruise control that causes the saddle riding type vehicle 1 to follow a vehicle traveling in front of the saddle riding type vehicle 1.

[0020] The adaptive cruise control switch group 61 outputs an ON signal to the electronic control unit 100 when the driver of the saddle-riding vehicle 1 performs an operation to start follow-up cruise control, and outputs an OFF signal to the electronic control unit 100 when the driver of the saddle-riding vehicle 1 performs an operation to end follow-up cruise control.

[0021] The driving assistance system S for a saddle-type vehicle has a crank angle sensor 23, an engine temperature sensor 24, an ignition plug 28, an intake pressure sensor 31, a throttle opening sensor 33, a throttle motor 34, a fuel injection valve 36, an accelerator opening sensor 65, a brake switch 67, a braking device 68, an alarm device 69, a vehicle speed sensor 74, an electronic control device 100, and an imaging device 200.

[0022] The crank angle sensor 23 detects the rotation angle (crank angle) of the crankshaft 22 and outputs an electric signal corresponding to the detected rotation angle of the crankshaft 22 to the electronic control unit 100 .

[0023] The engine temperature sensor 24 detects the temperature of the coolant of the engine 20 as the engine temperature, and outputs an electric signal corresponding to the detected coolant temperature to the electronic control unit 100 .

[0024] The spark plug 28 ignites the air-fuel mixture in the combustion chamber in accordance with a control signal input from the electronic control unit 100 .

[0025] The intake pressure sensor 31 detects the pressure of the air flowing into the intake pipe 30 (intake pressure), and outputs an electric signal having a voltage corresponding to the detected air pressure to the electronic control unit 100 .

[0026] The throttle opening sensor 33 detects the opening of the throttle valve 32 and outputs an electric signal corresponding to the detected opening of the throttle valve 32 to the electronic control unit 100 .

[0027] The throttle motor 34 rotates the throttle valve 32 to open or close it in accordance with a control signal input from the electronic control unit 100 .

[0028] The fuel injection valve 36 injects fuel into the intake pipe 30 in accordance with a control signal input from the electronic control unit 100. The fuel injection valve 36 is not limited to being provided in the intake pipe 30, but may also be attached to the head 26 and configured to inject fuel directly into the combustion chamber of the engine 20.

[0029] The accelerator opening sensor 65 detects the amount of operation of the accelerator grip 64 (accelerator opening) and outputs an electric signal corresponding to the detected amount of operation of the accelerator grip 64 to the electronic control unit 100 .

[0030] The brake switch 67 outputs a corresponding on / off signal to the electronic control unit 100 when the front wheel brake lever 66 is gripped or when the rear wheel brake lever (not shown) is gripped or released.

[0031] The braking device 68 includes, for example, a cylinder that transmits hydraulic pressure to a brake caliper in response to the amount of operation of the brake lever 66 or the like or the brake caliper (all of which are not shown), an electric motor that generates hydraulic pressure in the cylinder, and an electronic control unit. The electronic control unit controls the electric motor based on a command signal (control signal) sent from an electronic control device 100, the details of which will be described later, and generates a braking force according to the command.

[0032] The notification device 69 serving as a notification unit includes a display, a speaker, or the like, and notifies the driver of the saddle-ride type vehicle 1 by sound, voice, display, or the like based on the control signal output from and input to the control unit 150 .

[0033] The vehicle speed sensor 74 is provided on the front suspension member 72. The vehicle speed sensor 74 outputs an electrical signal exhibiting a voltage corresponding to the rotational speed of the front wheel 73 to the electronic control unit 100 as an electrical signal exhibiting a voltage corresponding to the speed of the saddle riding type vehicle 1.

[0034] The electronic control unit 100 is configured by an ECU (Electronic Control Unit), which is an arithmetic processing device including a microcomputer such as a CPU (Central Processing Unit). The electronic control unit 100 controls the operating state of the engine 20 by executing a control program while referring to control data. The control data and the control program are pre-stored in a memory (not shown).

[0035] The electronic control unit 100 operates using a battery (not shown) mounted on the saddle-ride type vehicle 1 as a power source to control the operating state of the engine 20. The electronic control unit 100 is electrically connected to a crank angle sensor 23, an engine temperature sensor 24, an intake pressure sensor 31, a throttle opening sensor 33, an adaptive cruise control switch group 61, an accelerator opening sensor 65, a brake switch 67, a vehicle speed sensor 74, and the like.

[0036] The electronic control unit 100 performs follow-up cruise control, which causes the saddle-riding vehicle 1 to follow a vehicle ahead of the saddle-riding vehicle 1, based on signals output from setting switches of the adaptive cruise control switch group 61 and input to the electronic control unit 100. The electronic control unit 100 includes a vehicle speed change operation detection unit 101, an adaptive cruise control calculation unit 108, an image analysis unit 112, and a control unit 150. The vehicle speed change operation detection unit 101, the adaptive cruise control calculation unit 108, the image analysis unit 112, and the control unit 150 are shown as functional blocks when executing a control program. Also, input circuits such as an A / D (Analog / Digital) conversion circuit and a waveform shaping circuit for each sensor are not shown in the figure.

[0037] The vehicle speed change operation detection unit 104 detects whether or not the driver of the saddle riding type vehicle 1 has performed an operation to change the speed of the saddle riding type vehicle 1, and outputs an electrical signal according to the detection result to the control unit 150. Specifically, when a signal output from a setting switch or reset switch of the adaptive cruise control switch group 61 is input to the electronic control unit 100, the vehicle speed change operation detection unit 104 detects that the driver of the saddle riding type vehicle 1 has performed an operation to change the speed of the saddle riding type vehicle.

[0038] When an on signal output from the adaptive cruise control switch group 61 is input to the electronic control unit 100, the adaptive cruise control calculation unit 108 performs sensor fusion processing etc. based on image data output from the imaging device 200 and input to the electronic control unit 100, and electrical signals corresponding to the presence of an obstacle ahead and the distance between the obstacle and the saddle riding type vehicle 1, which are output from sensors such as millimeter wave radar and LiDAR (Laser Imaging Detection and Ranging) that are provided if necessary and not shown and input to the electronic control unit 100, to calculate a target throttle opening, which is the target opening of the throttle valve 32 for follow-up cruise control, and outputs an electrical signal corresponding to the calculated target throttle opening to the control unit 150. If necessary, the adaptive cruise control calculation unit 108 operates at least one of the front wheel brake 75 and the rear wheel brake 78 to calculate a braking amount for braking the saddle riding type vehicle 1, and outputs an electrical signal corresponding to the calculated braking amount to the control unit 150. When an off signal output from the adaptive cruise control switch group 61 is input to the electronic control unit 100, the adaptive cruise control calculation unit 108 stops outputting to the control unit 150 an electrical signal corresponding to the target throttle opening and a control signal for operating the front wheel brake 75 and the rear wheel brake 78.

[0039] The image analysis unit 112 analyzes image data output from the imaging device 200 and input to the electronic control unit 100. When the image captured by the imaging device 200 contains one or more of road signs, road surface shapes, road conditions, display objects, and weather conditions, the image analysis unit 112 extracts images of the road signs, road surface shapes, road conditions, display objects, or weather conditions, and generates image information related to the extracted images. The image analysis unit 112 outputs the generated image information to the control unit 150. Here, the analysis of the image data is performed using pattern recognition processing, edge detection processing, or the like. Note that the determination of whether the image data output from the imaging device 200 and input to the electronic control unit 100 contains such road signs, road surface shapes, road conditions, display objects, weather conditions, or the like may be made when the image analysis unit 112 extracts the image, or may be made by the control unit 150 based on the results of the image extraction.

[0040] The control unit 150 controls the operating state of the engine 20 and also controls changes in the speed of the saddle-riding vehicle 1, based on electrical signals output from the engine temperature sensor 24, the spark plug 28, the intake pressure sensor 31, the throttle opening sensor 33, the throttle motor 34, the fuel injection valve 36, the accelerator opening sensor 65, the brake switch 67, and the vehicle speed sensor 74 and input to the electronic control unit 100, electrical signals output from the vehicle speed change operation detection unit 104 and input, image information output from the image analysis unit 112 and input, and, as necessary, electrical signals output from the adaptive cruise control calculation unit 108 and input. The control unit 150 outputs a control signal to the alarm device 69 to cause the alarm device 69 to issue an alert, based on the image information output from the image analysis unit 112 and input.

[0041] The control unit 150 calculates the rotation speed of the engine 20 (engine rotation speed) based on an electrical signal corresponding to the crank angle output from the crank angle sensor 23 and input to the electronic control unit 100. The output state control unit 151 calculates the temperature of the engine 20 (engine temperature) based on an electrical signal corresponding to the temperature of the coolant of the engine 20 output from the engine temperature sensor 24 and input to the electronic control unit 100. The output state control unit 151 calculates the intake pressure of the engine 20 (engine intake pressure) based on an electrical signal corresponding to the intake pressure of the engine 20 output from the intake pressure sensor 31 and input to the electronic control unit 100. The output state control unit 151 calculates the opening degree of the throttle valve 32 (throttle opening degree) based on an electrical signal corresponding to the opening degree of the throttle valve 32 output from the throttle opening degree sensor 33 and input to the electronic control unit 100. The output state control unit 151 calculates the opening degree of the accelerator grip 64 (accelerator opening degree) based on an electrical signal corresponding to the amount of operation of the accelerator operating member, which is output from the accelerator opening degree sensor 65 and input to the electronic control unit 100. The output state control unit 151 calculates the opening degree of the accelerator grip 64 (accelerator opening degree) based on an electrical signal corresponding to the amount of operation of the accelerator operating member, which is output from the accelerator opening degree sensor 65 and input to the electronic control unit 100. The output state control unit 151 calculates the speed of the saddle-riding type vehicle 1 based on an electrical signal indicating the rotational speed of the front wheel 73, which is output from the vehicle speed sensor 74 and input to the electronic control unit 100.

[0042] Here, the control unit 150 includes a fuel injection control unit 152 , an ignition timing control unit 154 , a throttle opening control unit 156 , and a braking state control unit 162 .

[0043] The fuel injection control unit 152 calculates a basic fuel injection amount based on the calculated engine speed and throttle opening of the engine 20, and calculates the fuel injection amount to be injected from the fuel injection valve 36 by correcting the calculated basic fuel injection amount based on the calculated temperature of the engine 20, the intake pressure of the engine 20, etc. The fuel injection control unit 152 controls the drive of the fuel injection valve 36 so as to inject the calculated fuel injection amount.

[0044] The ignition timing control unit 154 calculates a basic ignition timing based on the calculated engine speed and throttle opening of the engine 20, and calculates the ignition timing by correcting the calculated basic ignition timing based on the calculated temperature of the engine 20, the intake pressure of the engine 20, etc. The ignition timing control unit 154 controls the drive of the spark plug 28 so that the spark plug 28 ignites at the calculated ignition timing.

[0045] The throttle opening control unit 156 calculates a target throttle opening, which is a target opening to which the actual throttle opening of the throttle valve 32 should follow through feedback control, based on the calculated opening of the accelerator grip 64. The throttle opening control unit 156 also calculates the target throttle opening based on the image information output from and input to the image analysis unit 112, the calculated speed of the saddle-riding type vehicle 1, and the electrical signal output from the vehicle speed change operation detection unit 104. The throttle opening control unit 156 then controls the drive of the throttle motor 34 so that the actual throttle opening matches the calculated target throttle opening. When the throttle opening control unit 156 receives an electrical signal output from the adaptive cruise control calculation unit 108, it controls the drive of the throttle motor 34 so that the target throttle opening indicated by the electrical signal output from and input to the adaptive cruise control calculation unit 108 matches the actual throttle opening.

[0046] The braking state control unit 162 not only controls the braking state when the front wheel brake lever 66 is gripped and the front wheel brake 75 is activated, and the braking state when the rear wheel brake lever is gripped and the rear wheel brake 78 is activated, but also controls the drive of the brake device 68 to activate at least one of the front wheel brake 75 and the rear wheel brake 78, thereby braking and slowing down the saddle-type vehicle 1, based on the image information output and input from the image analysis unit 112, the calculated speed of the saddle-type vehicle 1, and the electrical signal output from the vehicle speed change operation detection unit 104, etc.

[0047] The imaging device 200 serving as the imaging unit is an optical unit, typically a camera, but devices other than cameras can be used as long as they are capable of capturing images of the environment, including the road along which the saddle riding vehicle 1 is traveling and objects, within a predetermined imaging range. Furthermore, when a camera is used as the imaging device 200, a monocular camera or a stereo camera can be used. The imaging device 200 has an imaging optical system and an imaging element, both of which are not shown. The imaging optical system receives reflected light from environmental objects in front of the saddle riding vehicle 1 as incident light to capture images of the environmental objects, and the imaging element converts image data of the environmental objects captured via the imaging optical system into an electrical signal and outputs the converted electrical signal to the electronic control device 100.

[0048] 1, the control unit 150 controls the output of the electric motor 20' via a drive inverter (not shown) or the like, using motor stages that correspond in time series to combustion cycles that reduce the output of the engine 20 and combustion cycles that do not reduce the output. The control unit 150 also controls the output of the electric motor 20' based on image information output from and input by the image analysis unit 112, the calculated speed of the saddle-riding vehicle 1, and the electrical signal output from the vehicle speed change operation detection unit 104.

[0049] <Operation of the driving assistance system for a straddle-type vehicle> The operation of the driving assistance system S for a straddle-type vehicle according to the embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2. FIG.

[0050] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that an image including a road sign restricting the maximum speed has been captured by the imaging device 200, the control unit 150 causes the notification device 69 to issue a notification. The notification device 69 issues a warning sound or information related to the road sign restricting the maximum speed. For example, the notification device 69 notifies the driver by voice, by display, or by both voice and display that the maximum speed is restricted to 50 km / h. If, after causing the alarm device 69 to issue an alert, the electrical signal output from and input to the vehicle speed change operation detection unit 104 indicates a detection result that no operation to change the speed is detected, the control unit 150 executes braking force control by outputting a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 so that the calculated speed of the saddle riding type vehicle 1 becomes equal to or less than the maximum speed displayed on the road sign, and executes driving force control by outputting a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in a closing direction, thereby changing the speed of the saddle riding type vehicle 1. In this case, from the perspective of maintaining stable behavior of the saddle riding type vehicle 1, it is preferable that the timing to start execution of driving force control be earlier than the timing to start execution of braking force control. Then, when the control unit 150 receives an electrical signal indicating a detection result that an operation to change the speed has been detected, output from the vehicle speed change operation detection unit 104, during control to change the speed of the saddle riding type vehicle 1, the control unit 150 ends control to change the speed of the saddle riding type vehicle 1. On the other hand, when the electrical signal output from and input from the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alert indicates a detection result that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle riding type vehicle 1.

[0051] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that an image including a road sign restricting a minimum speed has been captured by the imaging device 200, the control unit 150 causes the notification device 69 to issue a notification. The notification device 69 issues a warning sound or information related to the road sign restricting a minimum speed. For example, the notification device 69 notifies the driver by voice, by display, or by both voice and display that the minimum speed is restricted to 50 km / h. If the electrical signal output from and input from the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alert indicates that no operation to change the speed has been detected, the control unit 150 outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening direction so that the calculated speed of the saddle riding type vehicle 1 is equal to or greater than the minimum speed indicated on the road sign, and if necessary, outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78, thereby controlling to change the speed of the saddle riding type vehicle 1. Then, if the control unit 150 receives an electrical signal output from the vehicle speed change operation detection unit 104 indicating that an operation to change the speed has been detected during control to change the speed of the saddle riding type vehicle 1, the control unit 150 ends control to change the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0052] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that the image capturing device 200 has captured an image including the road condition of an uphill road, the control unit 150 causes the notification device 69 to make a notification. The notification device 69 issues a warning sound or information about the road condition of an uphill road. For example, the notification device 69 notifies the driver that the road is an uphill road by voice, by display, or by both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no detection of a speed change operation, the control unit 150 outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening direction, thereby driving the throttle motor 34, in order to suppress a decrease in the speed of the saddle riding type vehicle 1, and if necessary, outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not become equal to or lower than a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 that indicates a detection result that a speed change operation has been detected, during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0053] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that the image capturing device 200 has captured an image including a road condition of a downhill road, the control unit 150 causes the notification device 69 to make a notification. The notification device 69 issues a warning sound or information about the road condition of a downhill road. For example, the notification device 69 notifies the driver that the road is a downhill road by voice, by display, or by both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no detection of a speed change operation, the control unit 150 outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 in order to suppress an increase in speed, and if necessary, outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening or closing direction to drive the throttle motor 34, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not exceed a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 indicating a detection result that a speed change operation has been detected during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0054] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that the image capturing device 200 has captured an image including a road surface shape that makes it desirable to reduce the speed, such as a bump, a curve, or an undulating road, the control unit 150 causes the notification device 69 to make an alert. The notification device 69 issues a warning sound or provides information about the road surface shape that makes it desirable to reduce the speed, such as a bump, a curve, or an undulating road. For example, the notification device 69 notifies the driver of the presence of a bump, a curve, or an undulating road by voice, a display, or both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no speed change operation, the control unit 150 outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 in order to suppress an increase in speed, and if necessary, outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening or closing direction to drive the throttle motor 34, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not exceed a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 indicating a detection result that a speed change operation has been detected during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0055] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that an image including a display object urging the driver to slow down has been captured by the imaging device 200, the control unit 150 causes the notification device 69 to issue a notification. The notification device 69 issues a warning sound or information related to the display object urging the driver to slow down. For example, the notification device 69 notifies the driver of the need to slow down by voice, by display, or by both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no detection of a speed change operation, the control unit 150 outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 in order to reduce the speed, and if necessary, outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening or closing direction to drive the throttle motor 34, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not exceed a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 that indicates a detection result that a speed change operation has been detected during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0056] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that an image including a road condition such as a crosswalk or an intersection has been captured by the imaging device 200, the control unit 150 causes the notification device 69 to make an alert. The notification device 69 issues a warning sound or information about the road condition such as a crosswalk or an intersection. For example, the notification device 69 notifies the driver that there is a crosswalk or an intersection by voice, by display, or by both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no detection of a speed change operation, the control unit 150 outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 in order to reduce the speed, and if necessary, outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening or closing direction to drive the throttle motor 34, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not exceed a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 that indicates a detection result that a speed change operation has been detected during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0057] When the control unit 150 determines, based on the image information output from and input to the image analysis unit 112, that an image including weather conditions such as rainfall or dense fog has been captured by the imaging device 200, it causes the notification device 69 to issue a notification. The notification device 69 issues a warning sound or information regarding the weather conditions such as rainfall or dense fog. For example, the notification device 69 notifies the driver of rainfall or dense fog by voice, display, or both voice and display. If, after causing the alarm device 69 to issue an alert, the control unit 150 receives an electrical signal that indicates no detection of a speed change operation, the control unit 150 outputs a control signal from the braking state control unit 162 to the brake device 68 to drive the brake device 68 and activate at least one of the front wheel brake 75 and the rear wheel brake 78 in order to reduce the speed, and if necessary, outputs a control signal from the throttle opening control unit 156 to the throttle motor 34 to drive the throttle valve 32 in an opening or closing direction to drive the throttle motor 34, thereby controlling the speed of the saddle riding type vehicle 1 to be changed so that the calculated speed of the saddle riding type vehicle 1 does not exceed a predetermined speed. Then, if the control unit 150 receives an electrical signal from the vehicle speed change operation detection unit 104 that indicates a detection result that a speed change operation has been detected during control of changing the speed of the saddle riding type vehicle 1, the control unit 150 ends control of changing the speed of the saddle riding type vehicle 1. On the other hand, if the electrical signal output from and input to the vehicle speed change operation detection unit 104 after causing the alarm device 69 to issue an alarm indicates that an operation to change the speed has been detected, the control unit 150 does not perform control to change the speed of the saddle-type vehicle 1.

[0058] The above-described operation of the saddle riding type vehicle 1 is preferably performed when follow-up cruise control is being performed, which causes the saddle riding type vehicle 1 to follow a vehicle traveling in front of the saddle riding type vehicle 1, based on an on signal output from the adaptive cruise control switch group 61 and input to the electronic control unit 100. Note that the above-described operation of the saddle riding type vehicle 1 may also be performed when follow-up cruise control, which causes the saddle riding type vehicle 1 to follow a vehicle traveling in front of the saddle riding type vehicle 1, is not being performed.

[0059] As is clear from the above description, in a first aspect of the driving assistance system S for a saddle-riding type vehicle in this embodiment, the driving assistance system S for a saddle-riding type vehicle is mounted on a saddle-riding type vehicle 1, and includes an imaging device 200 that images an area ahead of the saddle-riding type vehicle 1, a vehicle speed change operation detection unit 104 that detects an operation to change the speed of the saddle-riding type vehicle 1, an alarm device 69 that notifies the driver of the saddle-riding type vehicle 1, and an alarm device 69 that causes the alarm device 69 to notify when an image including one or more of a road sign, road surface shape, road conditions, display objects, and weather conditions is captured by the imaging device 200. In addition, the control unit 150 controls to change the speed of the saddle-riding vehicle 1 if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has been notified, and does not control to change the speed of the saddle-riding vehicle 1 if the vehicle speed change operation detection unit 104 detects an operation to change the speed after the alarm device 69 has been notified, thereby making it possible to achieve safe and comfortable driving of the saddle-riding vehicle 1 in accordance with the surrounding environment and circumstances, etc., regardless of whether or not operation by the driver is required.

[0060] Furthermore, in a second aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to the first aspect, when an image including a road sign restricting the maximum speed is captured by the imaging device 200, the control unit 150 causes the alarm device 69 to issue an alert, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, the control unit 150 controls the speed of the saddle-riding vehicle 1 so that it is below the maximum speed restricted by the road sign, thereby preventing the vehicle from traveling at speeds exceeding the restricted maximum speed and improving safety.

[0061] Furthermore, in a third aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to the first or second aspect, when an image including a road sign restricting a minimum speed is captured by the imaging device 200, the control unit 150 causes the alarm device 69 to issue an alert, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, the control unit 150 controls the speed of the saddle-riding vehicle 1 so that the speed is equal to or greater than the minimum speed restricted by the road sign, thereby preventing the vehicle from traveling at a speed below the restricted minimum speed.

[0062] Furthermore, in a fourth aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any of the first to third aspects, the control unit 150 causes the alarm device 69 to issue an alert when an image including road conditions on an uphill road is captured by the imaging device 200, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, thereby performing control to suppress a decrease in the speed of the saddle-riding vehicle 1, thereby making it possible to suppress unintended deceleration on uphill roads and to suppress the occurrence of traffic jams due to deceleration, etc.

[0063] Furthermore, in a fifth aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any of the first to fourth aspects, the control unit 150 causes the alarm device 69 to issue an alert when an image including road conditions on a downhill road is captured by the imaging device 200, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, the control unit 150 performs control to suppress an increase in the speed of the saddle-riding vehicle 1, thereby making it possible to suppress unintended acceleration on a downhill road and improving safety.

[0064] Furthermore, in a sixth aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any of the first to fifth aspects, the control unit 150 causes the alarm device 69 to issue an alert when the imaging device 200 captures an image including a road surface shape for which it is desirable to reduce the speed, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, the control unit 150 controls the saddle-riding vehicle 1 to reduce its speed, thereby preventing the vehicle from unintentionally entering a curved or undulating road at a high speed and improving safety.

[0065] Furthermore, in a seventh aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any of the first to sixth aspects, the control unit 150 causes the alarm device 69 to issue an alert when an image including a display object urging the vehicle to slow down is captured by the imaging device 200, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, the control unit 150 controls the saddle-riding vehicle 1 to slow down, thereby preventing the vehicle from unintentionally traveling at a high speed in a place where it should be traveling at a low speed, thereby improving safety.

[0066] Furthermore, in an eighth aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any of the first to seventh aspects, the control unit 150 causes the alarm device 69 to issue an alert when an image including the road conditions of a crosswalk or intersection is captured by the imaging device 200, and if the vehicle speed change operation detection unit 104 does not detect an operation to change the speed after the alarm device 69 has issued an alert, thereby controlling the saddle-riding vehicle 1 to reduce its speed. This makes it possible to prevent the vehicle from unintentionally traveling at a high speed in an area where it should be traveling at a low speed, thereby improving safety.

[0067] Furthermore, in a ninth aspect of the driving assistance system S for saddle-riding vehicles in this embodiment, in addition to any one of the first to eighth aspects, the control unit 150 performs control to change the speed when performing follow-up driving control to make the saddle-riding vehicle 1 follow a vehicle traveling in front of the saddle-riding vehicle 1, thereby making it possible to change the speed to an appropriate speed depending on the situation ahead while the follow-up driving control is being performed.

[0068] Furthermore, in a tenth aspect of the driving assistance system S for saddle-type vehicles in this embodiment, in addition to any one of the first to ninth aspects, the imaging device 200 is a camera, and therefore can identify road signs, road surface shapes, road conditions, display objects, or weather conditions with high accuracy, thereby enabling high-precision control.

[0069] It should be noted that the present invention is not limited to the above-described embodiment in terms of the type, shape, arrangement, number, etc. of the components, and it goes without saying that such modifications can be made as appropriate within the scope of the gist of the invention, such as by appropriately replacing the components with components that achieve equivalent effects.

[0070] Specifically, in the above embodiment, the speed of the saddle-type vehicle 1 was controlled based on an image captured by the imaging device 200 of road signs, road surface shape, road conditions, display objects, or weather conditions. However, this is not limited to this, and when the imaging device 200 captures an image other than road signs, road surface shape, road conditions, display objects, or weather conditions that requires a change in speed, the speed of the saddle-type vehicle 1 may be controlled based on the captured image.

[0071] As described above, the present invention can provide a driving assistance system for a saddle-type vehicle that can achieve safe and comfortable driving of the saddle-type vehicle in accordance with the surrounding environment and situation, regardless of whether or not operation by the driver is required, and because of its versatile and universal nature, it is expected to be widely applicable to driving assistance systems for saddle-type vehicles such as motorcycles.

[0072] DESCRIPTION OF THE SYMBOLS S...DRIVING ASSISTANCE SYSTEM FOR STRADLED VEHICLE 1...STRADLED VEHICLE 10...FRAME MEMBER 20...ENGINE 20'...ELECTRIC MOTOR 22...CRANKSHAFT 23...CRANK Axis SENSOR 24...ENGINE TEMPERATURE SENSOR 26...HEAD 28...SPARK PLUG 30...INTAKE PIPE 31...INTAKE AIR PRESSURE SENSOR 32...THROTTLE VALVE 33...THROTTLE OPENING SENSOR 34...THROTTLE MOTOR 36...FUEL INJECTION VALVE 60...HANDLEBAR SUPPORT MEMBER 61...ADAPTIVE CRUISE CONTROL SWITCH 62...HANDLEBAR 64...ACCELERATE GRIP 65...ACCELERATE OPENING SENSOR 66...FRONT BRAKE LEVER 67...BRAKE SWITCH 68...BRAKE DEVICE 69...ALARM DEVICE 72...FRONT SUPPORT MEMBER 73...FRONT WHEEL 74...VEHICLE SPEED SENSOR 75...FRONT BRAKE 76...REAR SUPPORT MEMBER 77...REAR WHEEL 78...REAR BRAKE 100...ELECTRONIC CONTROL DEVICE 104...VEHICLE SPEED CHANGE DETECTION DEVICE 108: Adaptive cruise control calculation unit 112: Image analysis unit 150: Control unit 152: Fuel injection control unit 154: Ignition timing control unit 156: Throttle opening control unit 162: Braking state control unit 200: Imaging device

Claims

1. A driving assistance system for a saddle riding type vehicle mounted on a saddle riding type vehicle, comprising: an imaging unit that images an area ahead of the saddle riding type vehicle; a vehicle speed change operation detection unit that detects an operation to change the speed of the saddle riding type vehicle; a notification unit that issues a notification to the driver of the saddle riding type vehicle; and a control unit that, when an image including one or more of a road sign, road surface shape, road conditions, signage, and weather conditions is captured by the imaging unit, causes the notification unit to issue a notification, and, if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification, controls the saddle riding type vehicle to change its speed, but, if the vehicle speed change operation detection unit detects an operation to change the speed after the notification unit has issued a notification, does not control the saddle riding type vehicle to change its speed.

2. The driving assistance system for a saddle-type vehicle according to claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the road sign restricting the maximum speed is captured by the imaging unit, and controls the speed of the saddle-type vehicle so that it is below the maximum speed restricted by the road sign if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification.

3. The driving assistance system for a saddle-type vehicle as described in claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the road sign regulating the minimum speed is captured by the imaging unit, and if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification, controls the speed of the saddle-type vehicle so that the speed is equal to or greater than the minimum speed regulated by the road sign.

4. The driving assistance system for a saddle-type vehicle according to claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the road conditions on an uphill road is captured by the imaging unit, and performs control to suppress a decrease in the speed of the saddle-type vehicle if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification.

5. The driving assistance system for a saddle-type vehicle according to claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the road conditions on a downhill road is captured by the imaging unit, and performs control to suppress an increase in the speed of the saddle-type vehicle if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification.

6. The driving assistance system for a saddle-type vehicle according to claim 1, characterized in that the control unit causes the notification unit to notify the driver when the imaging unit captures an image including the road surface shape for which it is desirable to reduce the speed, and controls the saddle-type vehicle to reduce its speed if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has notified the driver.

7. The driving assistance system for a saddle-type vehicle according to claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the display object urging the driver to decelerate is captured by the imaging unit, and controls the saddle-type vehicle to slow down if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification.

8. A driving assistance system for a saddle-type vehicle as described in claim 1, characterized in that the control unit causes the notification unit to issue a notification when an image including the road conditions of a crosswalk or intersection is captured by the imaging unit, and controls the saddle-type vehicle to reduce its speed if the vehicle speed change operation detection unit does not detect an operation to change the speed after the notification unit has issued a notification.

9. A driving assistance system for a saddle-riding vehicle as described in any one of claims 1 to 8, characterized in that the control unit performs control to change the speed when performing follow-up driving control to cause the saddle-riding vehicle to follow a vehicle traveling in front of the saddle-riding vehicle.

10. A driving assistance system for a straddle-type vehicle according to any one of claims 1 to 8, characterized in that the imaging unit is a camera.

Images