Control device and control method

Abstract

The present invention achieves a control device and a control method capable of controlling the behavior of a motorcycle according to an intention of a rider. In a control device and a control method according to the present invention, an execution unit of a control device (20) executes a control mode in which a positional relationship adjustment operation that adjusts a positional relationship between a motorcycle (1) and a preceding vehicle of the motorcycle (1) to a target positional relationship is executed by automatically accelerating or decelerating the motorcycle (1). The execution unit, during execution of the positional relationship adjustment operation, determines whether a rider of the motorcycle (1) continues to have an intention to overtake the preceding vehicle on the basis of operation information of a blinker switch (15), which is a switch for lighting a blinker lamp (14). The execution unit controls, on the basis of the result of the determination, a positional relationship approach operation in which the positional relationship between the motorcycle (1) and the preceding vehicle is controlled to an approaching state as compared with the target positional relationship.

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 controlling the behavior of a motorcycle.

[0005] [Background technology]

[0006]

[002] Various technologies have been proposed to assist motorcycle riders in their driving. For example, Patent Document 1 discloses a driver assistance system that warns a motorcycle rider that he or she is inappropriately approaching an obstacle based on information detected by a sensor device that detects obstacles 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] Incidentally, one technology for assisting vehicle driving is a positional relationship adjustment operation that automatically accelerates or decelerates the vehicle to adjust the positional relationship between the vehicle and a preceding vehicle to a target positional relationship. It is conceivable to apply the above-mentioned positional relationship adjustment operation to motorcycles. Compared to four-wheeled automobiles, the vehicle behavior of motorcycles is unstable and prone to quick changes. Therefore, from the perspective of improving motorcycle safety and reducing the rider's anxiety, it is particularly desirable to control the motorcycle's behavior in accordance with the rider's intentions.

[0014]

[0005] The present invention has been made in light of the above-mentioned problems, and aims to provide a control device and a control method that can control the behavior of a motorcycle in accordance with the rider's intentions.

[0015] [Means for solving the problem]

[0016] [0 0 0 6] The control device according to the present invention is a control device that controls the behavior of a motorcycle, and includes an execution unit that executes a control mode in which a positional relationship adjustment operation is executed to adjust the positional relationship between the motorcycle and a vehicle preceding the motorcycle to a target positional relationship by automatically accelerating or decelerating the motorcycle, and the execution unit determines, during the execution of the positional relationship adjustment operation, whether or not the rider of the motorcycle continues to intend to overtake the vehicle preceding, based on operation information of a turn signal switch that is a switch for turning on a turn signal lamp, and the execution unit controls a positional relationship approach operation in which the positional relationship between the motorcycle and the vehicle preceding is controlled to be closer than the target positional relationship, based on the result of the determination.

[0017]

[0007] A control method according to the present invention is a control method for controlling the behavior of a motorcycle, wherein an execution unit of a control device executes a control mode in which a positional relationship adjustment operation is executed to adjust the positional relationship between the motorcycle and a vehicle preceding the motorcycle to a target positional relationship by automatically accelerating or decelerating the motorcycle, and the execution unit determines, during the positional relationship adjustment operation, whether or not the rider of the motorcycle continues to intend to overtake the vehicle preceding, based on operation information of a turn signal switch which is a switch for turning on a turn signal lamp, and the execution unit controls a positional relationship approach operation to control the positional relationship between the motorcycle and the vehicle preceding to be closer than the target positional relationship, based on the result of the determination. [Effects of the Invention]

[0018]

[0008] In the control device and control method according to the present invention, the execution unit of the control device executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between the motorcycle and a vehicle preceding the motorcycle to a target positional relationship by automatically accelerating or decelerating the motorcycle, and while the positional relationship adjustment operation is being performed, the execution unit determines whether the rider of the motorcycle continues to intend to overtake the vehicle preceding based on operation information of a turn signal switch which turns on the turn signal lamp, and the execution unit controls a positional relationship approach operation to control the positional relationship between the motorcycle and the vehicle preceding to be closer than the target positional relationship based on the result of the determination. This makes it possible to control the positional relationship approach operation after improving the reliability of determining whether the rider intends to overtake through the above determination. Therefore, it is possible to prevent a positional relationship approach operation from being performed against the rider's intention even when the rider has no intention to overtake. This prevents the motorcycle from behaving in a manner contrary to the rider's intentions, and allows the motorcycle's behavior to be controlled in line with the rider's intentions.

[0019] [Brief explanation of the drawings]

[0020] [ 0 0 0 9 ]

[0021] [Figure 1] A schematic diagram showing the general configuration of a motorcycle according to an embodiment of the present invention.

[0022] [Figure 2] A block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0023] [Figure 3I] A diagram showing a motorcycle according to an embodiment of the present invention and a preceding vehicle traveling.

[0024] [Figure 4] A flowchart showing an example of the processing flow performed by the control device in the second mode according to an embodiment of the present invention.

[0025] [Figure 5I] A flowchart showing an example of the processing flow performed by the control device in the first mode according to an embodiment of the present invention.

[0026] [Figure 6I] A flowchart showing a second example of the processing flow performed by the control device in the first mode according to an embodiment of the present invention.

[0027] [Figure 7I] A figure showing an example of display in an alarm operation according to an embodiment of the present invention.

[0028] DETAILED DESCRIPTION OF THE INVENTION

[0029]

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

[0030]

[0011] Although the following description focuses on a control device used in a two-wheeled motorcycle (see motorcycle 1 in Fig. 1), the vehicle controlled by the control device according to the present invention may be a motorcycle other than a two-wheeled motorcycle. Motorcycles include vehicles powered by an engine and vehicles powered by an electric motor. Motorcycles include, for example, motorcycles, scooters, and electric scooters.

[0031]

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

[0032]

[0013] In the following description, a control unit that controls the hydraulic pressure of brake fluid (specifically, hydraulic pressure control unit 12 in FIG. 1, which will be described later) is used as the control unit for the braking force acting on the wheel. However, the present invention is not limited to this. For example, a control unit that controls the position of the wheel braking part itself by an electrical signal (so-called brake-by-wire) may also be used as the control unit for the braking force acting on the wheel.

[0033] [ 0 0 1 4 ]

[0034] This causes the pistons in the cylinders to reciprocate, rotating the crankshaft. A throttle valve is provided in the intake pipe of the engine 11, and the amount of air taken into the combustion chamber changes depending on the opening of the throttle valve.

[0035]

[0019] The hydraulic pressure control unit 12 is a unit that controls the braking force acting on the wheels. For example, the hydraulic pressure control unit 12 is provided on an oil passage connecting a master cylinder and a wheel cylinder, and includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure of the wheel cylinder. The braking force acting on the wheels is controlled by controlling the operation of the components of the hydraulic pressure control unit 12. The hydraulic pressure control unit 12 may control the braking force acting on both the front and rear wheels, or may control only the braking force acting on either the front or rear wheels.

[0036]

[0020] The display device 13 has a display function that visually displays information to the rider. An example of the display device 13 is a liquid crystal display. The display device 13 is provided, for example, in front of the handlebars of the motorcycle 1. However, the placement of the display device 13 on the vehicle body is not particularly limited.

[0037]

[0021] The turn signal lamps 14 are a pair of left and right lamps provided on the front and rear of the motorcycle 1. The turn signal lamps 14 notify surrounding vehicles of the direction in which the motorcycle 1 is traveling when the motorcycle 1 is turning right or left or changing lanes. When the left turn signal lamp 14 is lit, surrounding vehicles are notified that the motorcycle 1 is about to turn left or change lanes to the left. When the right turn signal lamp 14 is lit, surrounding vehicles are notified that the motorcycle 1 is about to turn right or change lanes to the right.

[0038]

[0022] The turn signal switch 15 is a switch for turning on the turn signal lamp 14. The turn signal switch 15 is provided, for example, on a handlebar and operated by the rider's fingers. The turn signal switch 15 has a movable part that is a movable portion, and the rider can turn on the turn signal lamp 14 by moving the movable part with the rider's fingers. The moving direction of the movable part of the turn signal switch 15 is not particularly limited. For example, the turn signal switch 15 may be a slide-type switch whose movable part can move in a direction along the installation surface of the movable part, or a push-type switch whose movable part can move in a direction perpendicular to the installation surface of the movable part.

[0039]

[0023] Hereinafter, the operation of the turn signal switch 15 to turn on the turn signal lamp 14 is also referred to as the operation of the turn signal switch 15. The operation of the turn signal switch 15 refers to a series of operations from when a finger starts to apply force to the movable part of the turn signal switch 15 until the force is released. Note that when the finger is released from the movable part of the turn signal switch 15 and the force is no longer applied to the movable part, the movable part returns to its initial position. For example, the operation of the turn signal switch 15 is the operation from when a finger slides the movable part of the turn signal switch 15 until the finger is released from the movable part. Also, for example, the operation of the turn signal switch 15 is the operation from when a finger presses the movable part of the turn signal switch 15 until the finger is released from the movable part. Operation information of the turn signal switch 15 is output to the control device 20. The operation information of the turn signal switch 15 means information related to the operation of the turn signal switch 15, and includes, for example, information indicating whether the turn signal switch 15 is being operated.

[0040]

[0024] The input device 16 is a device other than the blinker switch 15 that accepts operation by the rider. The input device 16 includes, for example, a push button provided on the handlebars and used for operation by the rider. Information regarding the operation of the rider using the input device 16 is output to the control device 20.

[0041]

[0025] The ambient environment sensor 17 detects ambient environment information relating to the environment around the motorcycle 1. Specifically, the ambient environment sensor 17 is provided at the front of the motorcycle 1 and detects ambient environment information ahead of the motorcycle 1. The ambient environment information detected by the ambient environment sensor 17 is output to the control device 20.

[0042]

[0026] The ambient environment information detected by the ambient environment sensor 17 may be information related to the distance or direction to an object located around the motorcycle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the motorcycle 1 (for example, the type of object, the shape of the object itself, marks attached to the object, etc.). The ambient environment sensor 17 may be, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, etc.

[0043]

[0027] The surrounding environment information can also be detected by surrounding environment sensors or infrastructure equipment installed in other vehicles. In other words, the control device 20 can also acquire the surrounding environment information via wireless communication with other vehicles or infrastructure equipment.

[0044]

[0028] The front wheel speed sensor 18 is a wheel speed sensor that detects the wheel speed of the front wheel (for example, the number of rotations per unit time of the front wheel [rpm] or the moving distance per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 18 may also detect other physical quantities that can be substantially converted into the wheel speed of the front wheel. The front wheel speed sensor 18 is provided on the front wheel.

[0045]

[0029] The rear wheel speed sensor 19 is a wheel speed sensor that detects the wheel speed of the rear wheel (for example, the number of rotations per unit time of the rear wheel [rpm] or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The rear wheel speed sensor 19 may also detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel. The rear wheel speed sensor 19 is provided on the rear wheel.

[0046]

[0030] The control device 20 controls the behavior of the motorcycle 1. For example, part or all of the control device 20 may be configured with a microcomputer, microprocessor unit, etc. Also, for example, part or all of the control device 20 may be configured with updatable firmware, etc., or may be a program module executed by commands from a CPU, etc. The control device 20 may be, for example, a single device, or may be divided into multiple devices.

[0047]

[0031] As shown in Fig. 2, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. The control device 20 communicates with each device of the motorcycle 1 (for example, the engine 11, hydraulic pressure control unit 12, display device 13, turn signal lamp 14, turn signal switch 15, input device 16, ambient environment sensor 17, front wheel speed sensor 18, and rear wheel speed sensor 19). The control device 20 can also control the operation of each device of the motorcycle 1 (for example, the engine 11, hydraulic pressure control unit 12, display device 13, and turn signal lamp 14).

[0048]

[0032] The acquisition unit 21 acquires information from each device of the motorcycle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the blinker switch 15, the input device 16, the ambient environment sensor 17, the front wheel speed sensor 18, and the rear wheel speed sensor 19. In this specification, the acquisition of information may include the extraction or generation of information (for example, calculation), etc.

[0049]

[0033] The execution unit 22 executes various controls by controlling the operation of each device of the motorcycle 1. For example, the execution unit 22 controls the operation of the engine 11, the hydraulic control unit 12, the display device 13, and the blinker lamp 14.

[0050]

[0034] In particular, the execution unit 22 can execute a positional relationship adjustment operation. The positional relationship adjustment operation is an operation that automatically accelerates or decelerates the motorcycle 1 to adjust the positional relationship between the motorcycle 1 and a vehicle ahead of the motorcycle 1 to a target positional relationship. Note that in the positional relationship adjustment operation, the execution unit 22 may also adjust the positional relationship between the motorcycle 1 and an object other than a vehicle (such as a traffic light) to a target positional relationship.

[0051]

[0035] In the following, an example in which adaptive cruise control is executed as the positional relationship adjustment operation will be described. However, the positional relationship adjustment operation may be an operation other than adaptive cruise control as long as it adjusts the positional relationship between motorcycle 1 and the preceding vehicle to a target positional relationship. For example, the positional relationship adjustment operation may be an operation in which the target positional relationship changes depending on the amount of accelerator operation by the rider.

[0052]

[0036] Specifically, the execution unit 22 can execute a control mode in which adaptive cruise control is executed. In such a control mode, the execution unit 22 can execute adaptive cruise control. For example, when the power of the motorcycle 1 is turned on, the control mode is not executed, and when the rider operates a switch using the input device 16, the control mode is executed. Note that while the control mode is being executed, the state of the control mode can transition between a state in which adaptive cruise control is actually being executed and a state in which adaptive cruise control is temporarily suspended.

[0053]

[0037] In adaptive cruise control, the execution unit 22 automatically controls the speed of the motorcycle 1 without relying on the rider's acceleration / deceleration operations (i.e., accelerator and brake operations). The execution unit 22 can control the speed of the motorcycle 1 based on, for example, information about the speed of the motorcycle 1 obtained based on the wheel speed of the front wheel and the wheel speed of the rear wheel. For example, the execution unit 22 can control the driving force acting on the motorcycle 1 by controlling the operation of the engine 11. Also, for example, the execution unit 22 can control the braking force acting on the motorcycle 1 by controlling the operation of the hydraulic control unit 12.

[0054]

[0038] In adaptive cruise control, for example, a target inter-vehicle distance is set as a target value for the inter-vehicle distance between the motorcycle 1 and the preceding vehicle, and the execution unit 22 controls the speed of the motorcycle 1 so that the inter-vehicle distance between the motorcycle 1 and the preceding vehicle is maintained at the target inter-vehicle distance. In other words, the positional relationship where the inter-vehicle distance between the motorcycle 1 and the preceding vehicle becomes the target inter-vehicle distance corresponds to the target positional relationship. Note that the inter-vehicle distance may refer to the distance along the lane (specifically, the lane in which the motorcycle 1 is traveling) or the distance in a straight line. For example, the acquisition unit 21 acquires the inter-vehicle distance between the motorcycle 1 and the preceding vehicle based on information about the surrounding environment of the motorcycle 1, and the execution unit 22 can control the speed of the motorcycle 1 as described above based on the acquired inter-vehicle distance.

[0055]

[0039] However, in adaptive cruise control, for example, a target passing time difference is set, which is a target value for the passing time difference (specifically, the time it takes for motorcycle 1 to pass the current position of the preceding vehicle), and execution unit 22 may control the speed of motorcycle 1 so that the passing time difference is maintained at target passing time difference. In this case, the positional relationship where the passing time difference becomes the target passing time difference corresponds to the target positional relationship. For example, acquisition unit 21 acquires the passing time difference based on information about the surrounding environment of motorcycle 1, and execution unit 22 can control the speed of motorcycle 1 as described above based on the acquired passing time difference.

[0056]

[0040] Here, the execution unit 22 can execute a positional relationship approaching operation in the above control mode. The positional relationship approaching operation is an operation in which the positional relationship between the motorcycle 1 and the preceding vehicle is controlled to be closer to a target positional relationship, and is an operation to assist the rider in overtaking the preceding vehicle. For example, in the positional relationship approaching operation, the execution unit 22 increases the acceleration of the motorcycle 1 to control the positional relationship between the motorcycle 1 and the preceding vehicle to be closer to a target positional relationship.

[0057]

[0041] When acceleration is positive, motorcycle 1 is accelerating, and when acceleration is negative (i.e., deceleration is occurring), motorcycle 1 is decelerating. An increase in the acceleration of motorcycle 1 includes a decrease in the absolute value of the deceleration of motorcycle 1 during deceleration, motorcycle 1 switching from a decelerating state to an accelerating state, and an increase in the absolute value of the acceleration of motorcycle 1 during acceleration.

[0058]

[0042] However, the positional relationship approaching operation may also include an operation in which the positional relationship between the motorcycle 1 and the preceding vehicle is controlled to be closer than the target positional relationship, even though the acceleration of the motorcycle 1 does not increase. For example, in a situation in which the motorcycle 1 and the preceding vehicle are decelerating, the absolute value of the deceleration of the motorcycle 1 is controlled to be smaller than the absolute value of the deceleration of the preceding vehicle, resulting in the positional relationship between the motorcycle 1 and the preceding vehicle being controlled to be closer than the target positional relationship.

[0059]

[0043] Figure 3 is a diagram showing a motorcycle 1 and a preceding vehicle 2 traveling. In the example of Figure 3, lanes L1 and L2 are adjacent to each other with a lane boundary LV in between. Motorcycle 1 and preceding vehicle 2 are traveling in lane L1. Leading vehicle 2 is located ahead of motorcycle 1. Lane L2 is an overtaking lane. In the example of Figure 3, leading vehicle 2 is the target of positional relationship adjustment in a positional relationship adjustment operation (for example, adaptive cruise control). In the example of Figure 3, leading vehicle 2 is a four-wheeled automobile, but the target of positional relationship adjustment in the positional relationship adjustment operation may be a vehicle other than a four-wheeled automobile (for example, a motorcycle, etc.).

[0060] For example, in the example of Fig. 3, when the rider of motorcycle 1 performs a specific operation described below, a positional relationship approach operation is executed. As a result, for example, the acceleration of motorcycle 1 increases, and the rider can overtake leading vehicle 2 as shown by solid arrow A1.

[0061]

[0045] In the example of Figure 3, when the positional relationship approaching operation is performed, depending on the traffic conditions in lane L2, the rider may hesitate to overtake the leading vehicle 2 and not proceed. In that case, for example, as shown by dashed arrow A2, the motorcycle 1 continues to travel behind the leading vehicle 2 and approaches the leading vehicle 2. In such a case, the deceleration request to return the positional relationship between the motorcycle 1 and the leading vehicle to the target positional relationship takes priority over the acceleration request made by the positional relationship approaching operation, and the speed of the motorcycle 1 is controlled in accordance with the deceleration request. As a result, the positional relationship between the motorcycle 1 and the leading vehicle is adjusted to return to the target positional relationship, and the positional relationship approaching operation ends.

[0062]

[0046] <Operation of the control device> The operation of the control device 20 according to the embodiment of the present invention will be described with reference to Figs. 4 to 7.

[0063]

[0047] As described above, in a control mode in which adaptive cruise control is executed, the execution unit 22 of the control device 20 can execute a positional relationship approach operation in which the positional relationship between the motorcycle 1 and the preceding vehicle is controlled to be closer than the target positional relationship.

[0064]

[0048] Incidentally, one possible method is to determine that the rider has an intention to overtake the preceding vehicle 2 (hereinafter also referred to as an intention to overtake) when the rider operates the turn signal switch 15, and then execute a positional approach action. In this method, the positional approach action is executed after it is determined that the rider has an intention to overtake, so the behavior of the motorcycle 1 is considered to be in line with the rider's intention. However, for example, if the turn signal switch 15 is operated not with the intention of activating the positional approach action but simply with the intention of turning on the turn signal lamp 14, a positional approach action may be executed against the rider's intention.

[0065] Therefore, in this embodiment, the execution unit 22 determines whether or not the rider intends to overtake based on the operation information of the blinker switch 15, and controls the positional relationship approach operation based on the result of this determination. As a result, as will be described later, the behavior of the motorcycle 1 can be controlled in accordance with the rider's intentions.

[0066] In the control mode in which adaptive cruise control is performed, the rider can select a processing mode related to the positional relationship approaching operation from a first mode in which the positional relationship approaching operation is controlled based on the result of the above-mentioned determination, and a second mode in which the positional relationship approaching operation is controlled regardless of the result of the above-mentioned determination. Specifically, the execution unit 22 switches between the first mode and the second mode based on manual setting information by the rider.

[0067]

[0051] The manual setting information is information related to manual setting by the rider of the motorcycle 1. The rider can input the manual setting information to the control device 20 by, for example, operating the input device 16. When the manual setting information indicates that the first mode is to be selected, the execution unit 22 sets the processing mode related to the positional relationship approaching operation to the first mode. On the other hand, when the manual setting information indicates that the second mode is to be selected, the execution unit 22 sets the processing mode related to the positional relationship approaching operation to the second mode.

[0068]

[0052] Before describing the first mode in which the positional relationship approaching operation is controlled based on the result of the above-mentioned determination, a processing example of the second mode in which the positional relationship approaching operation is controlled without based on the result of the above-mentioned determination will be described below with reference to Figure 4.

[0069]

[0053] Figure 4 is a flowchart showing an example of the processing flow performed by the control device 20 in the second control mode. The control flow shown in Figure 4 starts when the processing mode for positional relationship approach operation is set to the second mode during execution of a control mode in which adaptive cruise control is performed. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4.

[0070]

[0054] When the control flow shown in FIG. 4 starts, in step S102, the execution unit 22 determines whether the enabling condition for the positional relationship approach operation is satisfied.

[0071]

[0055] In a control mode in which adaptive cruise control is executed, the execution unit 22 switches between enabling and disabling the positional relationship approach action depending on whether or not the enabling condition for the positional relationship approach action is satisfied. As will be described later, when the enabling condition for the positional relationship approach action is satisfied, the positional relationship approach action is enabled and execution of the positional relationship approach action is permitted. On the other hand, when the enabling condition for the positional relationship approach action is not satisfied, the positional relationship approach action is disabled and execution of the positional relationship approach action is prohibited.

[0072]

[0056] The conditions for enabling the positional relationship approach operation are, for example, that all of the following first, second, third, fourth, and fifth conditions are satisfied.

[0073]

[0057] The first condition is that the speed of the motorcycle 1 is higher than a reference speed. The reference speed is set, for example, to a speed that makes it possible to determine whether the lane in which the motorcycle 1 is traveling is free of congestion and the vehicle is proceeding smoothly. If the speed of the motorcycle 1 is higher than the reference speed, it can be determined that the vehicle is proceeding smoothly in the lane in which the motorcycle 1 is traveling. The acquisition unit 21 can acquire the speed of the motorcycle 1 based on, for example, the wheel speed of the front wheel and the wheel speed of the rear wheel.

[0074]

[0058] The second condition is that the presence of a preceding vehicle 2 (i.e., the target of positional relationship adjustment in adaptive cruise control) is detected. The execution unit 22 can determine whether the presence of a preceding vehicle 2 is detected based on, for example, ambient environment information about the motorcycle 1. The acquisition unit 21 can acquire ambient environment information about the motorcycle 1 based on, for example, the detection result of the ambient environment sensor 17.

[0075]

[0059] The third condition is that an overtaking lane (lane L2 in the example of FIG. 3) exists on the road on which the motorcycle 1 is traveling. The execution unit 22 can determine whether an overtaking lane exists on the road on which the motorcycle 1 is traveling, for example, based on the information about the surrounding environment of the motorcycle 1. For example, the execution unit 22 can acquire information indicating the traveling positions of multiple surrounding vehicles (specifically, their relative positions with respect to the motorcycle 1) based on the information about the surrounding environment of the motorcycle 1, and based on this information, determine whether multiple lanes exist on the road on which the motorcycle 1 is traveling. Then, if the execution unit 22 determines that multiple lanes exist on the road on which the motorcycle 1 is traveling, it can determine that an overtaking lane exists.

[0060] The fourth condition is that the motorcycle 1 is traveling in a lane that is not a passing lane. The execution unit 22 can determine whether the motorcycle 1 is traveling in a lane that is not a passing lane, for example, based on the ambient environment information of the motorcycle 1. For example, the execution unit 22 can obtain information indicating the positions of multiple surrounding vehicles (specifically, their relative positions to the motorcycle 1) based on the ambient environment information of the motorcycle 1, and based on this information, determine whether the motorcycle 1 is traveling in a lane that is not a passing lane.

[0076]

[0061] Regarding the third and fourth conditions, whether the overtaking lane is on the right or left side of the multiple lanes varies from country to country. Therefore, the execution unit 22 needs to determine in advance whether the overtaking lane is on the right or left side of the multiple lanes. For example, the execution unit 22 can obtain information indicating the surrounding traffic conditions based on the surrounding environment information of the motorcycle 1 and make the above determination based on this information.

[0077]

[0062] The fifth condition is that there is no other vehicle in the passing lane whose absolute value of its relative speed with respect to motorcycle 1 is smaller than a reference value. The reference value is set, for example, to a value that can determine whether the likelihood of a collision between motorcycle 1 and another vehicle exceeds a predetermined probability if motorcycle 1 changes lanes to the passing lane. If there is another vehicle in the passing lane whose absolute value of its relative speed with respect to motorcycle 1 is smaller than the reference value, it can be determined that the likelihood of a collision between motorcycle 1 and another vehicle exceeds the predetermined probability if motorcycle 1 changes lanes to the passing lane.

[0078]

[0063] For example, the execution unit 22 can determine whether or not there is another vehicle in the passing lane whose absolute value of the relative speed with respect to the motorcycle 1 is smaller than a reference value, based on the ambient environment information of the motorcycle 1. For example, if the execution unit 22 determines that there is no other vehicle in the passing lane based on the ambient environment information of the motorcycle 1, it can determine that the fifth condition is met. Also, for example, if the execution unit 22 determines that there is another vehicle in the passing lane based on the ambient environment information of the motorcycle 1, it can determine whether or not the absolute value of the relative speed of that other vehicle with respect to the motorcycle 1 is smaller than a reference value, based on the ambient environment information of the motorcycle 1.

[0079]

[0064] The above example is merely one example of the enabling condition for the positional approach operation, and the enabling condition for the positional approach operation may be a condition obtained by modifying the above example in various ways. For example, any part of the first, second, third, fourth, and fifth conditions may be omitted from the above example. Furthermore, other conditions (such as a condition that it can be determined that a lane change can be performed safely based on information transmitted from a GPS (Global Positioning System) satellite) may be added to the above example.

[0080]

[0065] If it is determined that the enabling condition for the positional approach operation is not satisfied (step S!02 / NO), step S!02 is repeated. On the other hand, if it is determined that the enabling condition for the positional approach operation is satisfied (step S!02 / YES), proceed to step S103.

[0081]

[0066] If the answer to step S102 is YES, then in step S103, the execution unit 22 determines whether the turn signal switch 15 has been operated.

[0082] For example, the execution unit 22 can determine whether the blinker switch 15 has been operated based on operation information of the blinker switch 15 output from the blinker switch 15 to the control device 20. Specifically, when the operation information indicates that operation of the blinker switch 15 has started (for example, that a movable part of the blinker switch 15 has moved due to the force of the rider's finger), the execution unit 22 determines that the blinker switch 15 has been operated.

[0083]

[0068] If it is determined that the turn signal switch 15 has not been operated (step S103 / NO), the process returns to step S102. On the other hand, if it is determined that the turn signal switch 15 has been operated (step S103 / YES), the process proceeds to step S104.

[0084]

[0069] If the answer is YES in step S103, in step S104, the execution unit 22 starts the positional relationship approach operation.

[0085] As described above, the positional relationship approaching operation is an operation that assists the rider in overtaking the preceding vehicle 2 by controlling the positional relationship between the motorcycle 1 and the preceding vehicle 2 so that they are closer to each other than the target positional relationship. In the positional relationship approaching operation, for example, the execution unit 22 controls the positional relationship between the motorcycle 1 and the preceding vehicle 2 so that they are closer to each other than the target positional relationship by increasing the acceleration of the motorcycle 1.

[0086] For example, the execution unit 22 controls the engine 11 so that a required acceleration is generated in the motorcycle 1 during the positional approach operation. The required acceleration for the positional approach operation is basically a preset value. However, the execution unit 22 may set the required acceleration for the positional approach operation to be smaller than the preset value when the speed of the motorcycle 1 is within a range close to the reference speed in the first condition of the above-mentioned enabling conditions for the positional approach operation.

[0087]

[0072] After step S104, in step S105, the execution unit 22 determines whether the termination condition for the positional relationship approach operation is satisfied.

[0088]

[0073] As will be described later, the positional relationship approaching operation ends when the end condition of step S105 is satisfied. In other words, the end condition of step S105 is a condition for ending the positional relationship approaching operation.

[0089] For example, the condition for ending the positional relationship approach operation is that the motorcycle 1 has completed changing lanes. For example, the execution unit 22 can determine that the motorcycle 1 has completed changing lanes when it determines that the motorcycle 1 has completed moving to the overtaking lane based on information about the motorcycle 1's traveling position on the traveling path. The acquisition unit 21 can acquire information about the motorcycle 1's traveling position on the traveling path based on the detection results of the surrounding environment sensor 17. The execution unit 22 can also determine that the motorcycle 1 has completed changing lanes when the presence of the preceding vehicle 2 is no longer detected.

[0090]

[0075] For example, the condition for ending the positional approach operation is that a reference time has elapsed since the start of the positional approach operation. The reference time can be set to a time longer than the estimated time it takes for the motorcycle 1 to change lanes. When the reference time has elapsed since the start of the positional approach operation, it is assumed that the motorcycle 1 has completed changing lanes. As shown by the dashed arrow A2 in Figure 3, if the rider hesitates to overtake the leading vehicle 2 and does not do so, the positional approach operation will end when the reference time has elapsed since the start of the positional approach operation, even though the motorcycle 1 has not completed changing lanes.

[0091]

[0076] The termination condition for the positional relationship approaching action may be that the enabling conditions for the positional relationship approaching action of step S!02 are no longer satisfied. For example, when any one of the first, second, third, fourth, and fifth conditions among the enabling conditions for the positional relationship approaching action of step S!02 is no longer satisfied, the execution unit 22 may determine that the termination condition for the positional relationship approaching action is satisfied.

[0092]

[0077] The above describes examples of conditions for terminating a positional relationship approaching action. However, the conditions for terminating a positional relationship approaching action may be conditions other than the examples given above. Furthermore, the conditions for terminating a positional relationship approaching action may include multiple types of conditions. For example, the conditions for terminating a positional relationship approaching action may be that any one of multiple types of conditions arbitrarily selected from the examples given above is satisfied.

[0093]

[0078] If it is determined that the termination condition for the positional approach operation is not satisfied (step S105 / NO), step S105 is repeated. On the other hand, if it is determined that the termination condition for the positional approach operation is satisfied (step S105 / YES), the process proceeds to step S106.

[0094]

[0079] If the answer is YES in step S105, in step S106, the execution unit 22 ends the positional relationship approach operation and returns to step S102.

[0095]

[0080] The above describes an example of processing in the second mode in which the positional relationship approaching operation is controlled regardless of the result of the above-mentioned determination. Next, as an example of processing in the first mode in which the positional relationship approaching operation is controlled based on the result of the above-mentioned determination, a first example and a second example will be described with reference to Figs. 5 and 6.

[0096]

[0081] Fig. 5 is a flowchart showing a first example of the flow of processing performed by the control device 20 in the first mode. The control flow shown in Fig. 5 starts when the processing mode for positional relationship approach operation is set to the first mode during execution of a control mode in which adaptive cruise control is performed. Step S201 in Fig. 5 corresponds to the start of the control flow shown in Fig. 5.

[0097]

[0082] The control flow of the first example of the first mode shown in Figure 5 differs from the control flow shown in Figure 4 above in that step S202 is added after step S3.

[0098]

[0083] The control flow shown in FIG. 5 starts. If it is determined that the condition for enabling the positional relationship approach operation is satisfied (Step S! 02 / YES), and it is determined that the blinker switch 15 has been operated (Step S! 03 / YES), the process proceeds to Step S202.

[0099]

[0084] In step S202, the execution unit 22 determines whether the rider of the motorcycle 1 continues to intend to overtake the preceding vehicle 2 (i.e., whether there is an intention to overtake).

[0100] Specifically, in step S202, the execution unit 22 determines whether or not the intention to overtake continues based on the operation information of the turn signal switch 15. Here, the operation information of the turn signal switch 15 may include, for example, information indicating the duration of the operation of the turn signal switch 15 and information indicating the number of times the turn signal switch 15 is operated within a reference time. The execution unit 22 uses this information to determine whether or not the intention to overtake continues.

[0101]

[0086] As described above, in step S103, the execution unit 22 determines whether or not the blinker switch 15 has been operated. This determination can determine that the rider may have the intention to overtake based on the fact that the blinker switch 15 has been operated. However, because the blinker switch 15 may be operated simply to turn on the blinker lamp 14, this determination may not reliably determine whether or not the rider has the intention to overtake.

[0102]

[0087] Meanwhile, in the determination of step S202, the execution unit 22 determines whether or not the rider continues to have the intention to overtake (i.e., whether or not the rider continues to have the intention to overtake). According to this determination, if there is a continued intention to overtake, it can be determined that the rider has the intention to overtake. This improves the reliability of determining whether or not the rider has the intention to overtake. Then, as will be described later, in the first mode, the execution unit 22 determines that the rider has the intention to overtake if there is a continued intention to overtake, and then determines whether or not to execute the positional relationship approach operation. This makes it possible to control the behavior of the motorcycle 1 in accordance with the rider's intention.

[0103] The execution unit 22 may determine whether the rider continues to have the intention to overtake based on information indicating the duration of the operation of the turn signal switch 15, for example. If the duration is extremely short, it can be determined that the rider does not continue to have the intention to overtake. On the other hand, if the duration is relatively long, it can be determined that the rider continues to have the intention to overtake. In this way, the duration is used to determine whether the rider continues to have the intention to overtake. Note that the acquisition unit 21 can acquire information indicating the duration (i.e., information indicating how long the operation of the turn signal switch 15 continued) by counting the duration of the operation of the turn signal switch 15 based on the information acquired from the turn signal switch 15 in step S202, for example.

[0104] For example, if the operation information indicates that the duration has reached the time value, the execution unit 22 determines that the rider continues to have the intention to overtake. On the other hand, if the operation information indicates that the duration has not reached the time value, the execution unit 22 determines that the rider does not continue to have the intention to overtake. The time value corresponds to the criterion for determination in step S202. The time value is set to a large value that allows the rider to determine that the rider continues to have the intention to overtake.

[0105]

[0090] The execution unit 22 may also determine whether the rider continues to intend to overtake based on information indicating the number of times the turn signal switch 15 is operated within a reference time. The reference time is, for example, about one second. If the number of times is extremely small (for example, if the number of times is only one), it can be determined that the rider does not continue to have the intention to overtake. On the other hand, if the number of times is relatively large, it can be determined that the rider continues to have the intention to overtake. In this way, the number of times can be used as a basis for determining whether the rider continues to have the intention to overtake. In addition, the acquisition unit 21 can acquire information indicating the number of times the turn signal switch 15 is operated within a reference time (i.e., information indicating how many times the turn signal switch 15 is operated within a reference time) by counting the number of times the turn signal switch 15 is operated based on the information acquired from the turn signal switch 15 in step S202, for example.

[0106]

[0091] For example, if the operation information indicates that the number of times has reached the minimum number of times, the execution unit 22 determines that the rider continues to intend to overtake. On the other hand, if the operation information indicates that the number of times has not reached the minimum number of times, the execution unit 22 determines that the rider does not continue to intend to overtake. The minimum number of times corresponds to the criterion for judgment in step S202. The minimum number of times is set to a value large enough to determine that the rider continues to intend to overtake, for example.

[0107]

[0092] If it is determined that the rider has no intention to overtake (step S202 / NO), return to step S102. On the other hand, if it is determined that the rider has the intention to overtake (step S202 / YES), proceed to step S104.

[0108]

[0093] If the determination in step S202 is YES, in step S104, the execution unit 22 starts the positional relationship approach operation. Thereafter, similar to the control flow shown in FIG. 4, the processing of steps S105 and S106 is performed, and the process returns to step S102.

[0109] As explained above, in the first example of the first mode, the execution unit 22 determines whether or not the rider continues to intend to overtake based on the operation information of the turn signal switch 15 (step S202 in the example of Fig. 5). The execution unit 22 then controls the positional approach operation based on the result of the above determination. This makes it possible to control the positional approach operation after improving the reliability of the determination of whether or not the rider intends to overtake. Therefore, it is possible to prevent the positional approach operation from being performed against the rider's intention even when the rider does not intend to overtake. This makes it possible to prevent the behavior of the motorcycle 1 from behaving contrary to the rider's intention, and therefore to control the behavior of the motorcycle 1 in line with the rider's intention.

[0110]

[0095] In particular, in the first example of the first mode, the execution unit 22 starts the positional relationship approaching action when it determines that the rider continues to have the intention to overtake, and does not start the positional relationship approaching action when it determines that the rider does not continue to have the intention to overtake. This appropriately prevents the positional relationship approaching action from being performed against the rider's will even if the rider does not have the intention to overtake.

[0111]

[0096] Fig. 6 is a flowchart showing a second example of the processing flow performed by the control device 20 in the first mode. The control flow shown in Fig. 6 starts when the processing mode for positional relationship approach operation is set to the first mode during execution of a control mode in which adaptive cruise control is performed. Step S301 in Fig. 6 corresponds to the start of the control flow shown in Fig. 6.

[0112]

[0097] The control flow of the second example of the first mode shown in Figure 6 differs from the control flow shown in Figure 4 above in that step S302 is added after step S104.

[0113]

[0098] The control flow shown in FIG. 6 starts. When it is determined that the enabling condition for the positional relationship approach operation is satisfied (step S102 / YES), and it is determined that the blinker switch 15 has been operated (step S103 / YES), the positional relationship approach operation starts (step S104), and then the process proceeds to step S302.

[0114]

[0099] In step S302, the execution unit 22 determines whether the rider of the motorcycle 1 continues to intend to overtake the preceding vehicle 2 (i.e., whether there is an intention to overtake).

[0115]

[0100] Note that the processing in step S302 is similar to the processing in step S202 in Figure 5 described above, so explanation will be omitted.

[0116]

[0101] If it is determined that the rider does not continue to intend to overtake (step S302 / NO), proceed to step S106. In step S106, the execution unit 22 ends the positional relationship approach operation that is currently being performed and returns to step S102.

[0117]

[0102] On the other hand, if it is determined that the rider has an intention to overtake (Step S302 / YES), the process proceeds to Step S105. In Step S105, the execution unit 22 determines whether or not the termination condition for the positional relationship approach operation has been satisfied while continuing the positional relationship approach operation that is currently being performed. Then, as in the control flow shown in Figure 4 above, if it is determined that the termination condition for the positional relationship approach operation has not been satisfied (Step S105 / NO), Step S105 is repeated, and if it is determined that the termination condition for the positional relationship approach operation has been satisfied (Step S105 / YES), the process proceeds to Step S106.

[0118] As explained above, in the second example of the first mode, similar to the first example of the first mode described above, the execution unit 22 determines whether or not the rider continues to intend to overtake based on the operation information of the turn signal switch 15 (step S302 in the example of FIG. 6). Then, the execution unit 22 controls the positional relationship approach operation based on the result of the above determination. As a result, similar to the first example of the first mode described above, the behavior of the motorcycle 1 can be controlled in accordance with the rider's intentions.

[0119]

[0104] In particular, in the second example of the first mode, the execution unit 22 continues the positional relationship approach action being executed when it is determined that the rider continues to have the intention to overtake, and ends the positional relationship approach action being executed when it is determined that the rider does not continue to have the intention to overtake. As a result, similar to the first example of the first mode described above, it is appropriately realized to prevent the positional relationship approach action being executed against the rider's intention even when the rider does not have the intention to overtake.

[0120]

[0105] The above describes examples of processing performed by the control device 20 with reference to the flowcharts of Figures 4 to 6. However, the processing performed by the control device 20 may be modified from the processing examples described above.

[0121] For example, in the above example, while the positional relationship approaching action is being executed, the positional relationship approaching action basically ends when the end condition is satisfied. However, the execution unit 22 may end the positional relationship approaching action being executed based on operation information of the turn signal switch 15 while the positional relationship approaching action is being executed. For example, in the first example of FIG. 5 described above as an example of the processing of the first mode, when the duration of the operation of the turn signal switch 15 reaches the time value, it is determined that there is a continuation of the intention to overtake (step S202 / YES S) and the positional relationship approaching action starts (step S104), the execution unit 22 may end the positional relationship approaching action being executed when the operation of the turn signal switch 15 is released. In addition, when the above-mentioned duration time is used to determine whether or not the intention to overtake continues, the execution unit 22 may continue the positional relationship approach operation that is currently being performed without terminating it when the operation of the turn signal switch 15 is released.

[0122]

[0107] Furthermore, for example, in the above example, the timing of operating the turn signal switch 15 and the timing of turning on the turn signal lamp 14 are not mentioned in detail. In this regard, for example, the execution unit 22 starts turning on the turn signal lamp 14 in response to the start of operation of the turn signal switch 15. Then, after the start of turning on the turn signal lamp 14, the execution unit 22 continues to turn on the turn signal lamp 14 regardless of the result of the determination as to whether or not the intention to overtake is continued. Therefore, the execution unit 22 starts turning on the turn signal lamp 14 in response to the start of operation of the turn signal switch 15, and continues to turn on the turn signal lamp 14 even if it determines that the intention to overtake is not continued. For example, in the first example of FIG. 5 described above as an example of processing in the first mode, when the turn signal switch 15 is operated (step S203 / YES), the turn signal lamp 14 starts to light up, and even if it is determined thereafter that there is no continued intention to overtake (step S202 / NO), the turn signal lamp 14 continues to light up.

[0123]

[0108] In the above example, the execution unit 22 switches between a first mode in which the positional relationship approaching operation is controlled based on the result of determining whether or not the intention to overtake continues, and a second mode in which the positional relationship approaching operation is controlled regardless of the result of determining whether or not the intention to overtake continues, based on information manually set by the rider. However, the execution unit 22 is only required to be able to execute at least the first mode, and is not necessarily required to be able to execute the second mode.

[0124]

[0109] In the above example, examples of criteria for determining whether or not the intention to overtake continues (in the above example, step S202 in FIG. 5 or step S302 in FIG. 6) include a time min value, which is a value indicating the duration of operation of the turn signal switch 15, and a count min value, which is a value indicating the number of times the turn signal switch 15 is operated within a reference time. Here, in a control mode in which adaptive cruise control is performed, the rider may be able to change the criteria for the above determination. Specifically, the execution unit 22 may determine the criteria for the above determination based on manual setting information set by the rider. Examples of the manual setting information include information indicating the value of the above described min value itself, and information indicating an increase or decrease in the above described min value. For example, the execution unit 22 may determine the time limit value or the number of times limit value according to the above-mentioned manual setting information.

[0125]

[0110] Furthermore, for example, the execution unit 22 may perform a notification operation to notify the rider of information used in determining whether or not the rider continues to intend to overtake (in the above example, step S202 in Fig. 5 or step S302 in Fig. 6). For example, the execution unit 22 performs the notification operation using the display device 13. However, the notification in the notification operation may be performed using a device other than the display device 13. For example, the execution unit 22 may perform the notification using a display device provided on clothing worn by the rider (for example, a helmet). For example, the execution unit 22 may perform the notification using a sound output device or vibration generating device provided on the motorcycle 1 or clothing worn by the rider.

[0126]

[0111] Fig. 7 is a diagram showing a display example of the notification operation. As described above, the execution unit 22 determines that there is a continuing intention to overtake when, for example, the determination parameter exceeds the minimum value TH. For example, the execution unit 22 determines that there is a continuing intention to overtake when the duration of operation of the turn signal switch 15 exceeds the time minimum value. Also, for example, the execution unit 22 determines that there is a continuing intention to overtake when the number of times the turn signal switch 15 is operated within a reference time exceeds the number minimum value. In the display example of Fig. 7, the length of the hatched bar indicates which value the parameter value, such as the duration or the number of times, takes within the range from 0 to the minimum value TH. For example, the execution unit 22 causes the display device 13 to display the screen shown in Figure 7 while determining whether or not the intention to overtake continues.

[0127]

[0112] <Effects of the control device> The effects of the control device 20 according to the embodiment of the present invention will be described.

[0128]

[0113] The control device 20 includes an execution unit 22 that executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between the motorcycle 1 and a preceding vehicle 2 of the motorcycle 1 to a target positional relationship by automatically accelerating or decelerating the motorcycle 1. While the positional relationship adjustment operation is being performed, the execution unit 22 determines whether the rider of the motorcycle 1 continues to intend to overtake the preceding vehicle 2 (i.e., intends to overtake) based on operation information from a turn signal switch 15 that turns on a turn signal lamp 14. Then, based on the result of this determination, the execution unit 22 controls a positional relationship approach operation to control the positional relationship between the motorcycle 1 and the preceding vehicle 2 to be closer to the target positional relationship. This makes it possible to control the positional relationship approach operation after improving the reliability of the determination of whether the rider intends to overtake. Therefore, it is possible to prevent a positional approach operation from being performed against the rider's intention even when there is no intention to overtake. As a result, it is possible to prevent the behavior of the motorcycle 1 from behaving against the rider's intention, and it is possible to control the behavior of the motorcycle 1 in accordance with the rider's intention. Preferably, in the control device 20, the operation information is information that indicates the duration of operation of the turn signal switch 15. This makes it possible to use the duration of operation of the turn signal switch 15 as a basis for making a judgment and accurately determine whether or not the rider continues to intend to overtake.

[0129] Preferably, in the control device 20, the execution unit 22 determines that the intention to overtake continues when the operation information indicates that the duration has reached a time value. This allows the determination of whether the intention to overtake continues to be made more accurately using the duration of the operation of the turn signal switch 15 as a basis for judgment.

[0130] Preferably, in the control device 20, the operation information is information indicating the number of times the turn signal switch 15 is operated within a reference time. This allows the number of times the turn signal switch 15 is operated within the reference time to be used as a basis for determining with high accuracy whether or not the intention to overtake is still present.

[0131] Preferably, in the control device 20, the execution unit 22 determines that there is a continuing intention to overtake when the operation information indicates that the number of times has reached a minimum value. This allows the number of times the turn signal switch 15 is operated within the reference time to be used as a basis for judgment, thereby making it possible to more accurately determine whether there is a continuing intention to overtake.

[0132] Preferably, in the control device 20, the execution unit 22 starts the positional relationship approaching action when it is determined that the rider continues to have the intention to overtake, and does not start the positional relationship approaching action when it is determined that the rider does not continue to have the intention to overtake. This makes it possible to further prevent the positional relationship approaching action from being executed against the rider's will even if the rider has no intention to overtake.

[0133] Preferably, in the control device 20, the execution unit 22 continues the positional relationship approaching action being executed when it is determined that the rider continues to intend to overtake, and ends the positional relationship approaching action being executed when it is determined that the rider does not continue to intend to overtake. This appropriately prevents the positional relationship approaching action being executed against the rider's intention even when the rider does not intend to overtake.

[0134]

[0120] Preferably, in the control device 20, the execution unit 22 ends the ongoing positional relationship approaching operation based on the operation information while the positional relationship approaching operation is being performed. This allows the rider to end the ongoing positional relationship approaching operation, for example, by releasing the operation of the blinker switch 15. This allows the positional relationship approaching operation to be ended with a simple operation, improving convenience. Furthermore, since the positional relationship approaching operation can be ended in accordance with the rider's intention, the behavior of the motorcycle can be controlled more in line with the rider's intention.

[0135] Preferably, in the control device 20, the execution unit 22 starts turning on the turn signal lamp 14 in response to the start of operation of the turn signal switch 15, and continues turning on the turn signal lamp 14 even when it is determined that there is no continued intention to overtake. This makes it possible to appropriately continue turning on the turn signal lamp 14 even when the turn signal switch 15 is operated with the intention of turning on the turn signal lamp 14.

[0136]

[0122] Preferably, in the control device 20, the execution unit 22 switches between a first mode in which the positional relationship approaching operation is controlled based on the result of the above-mentioned determination, and a second mode in which the positional relationship approaching operation is controlled without based on the result of the above-mentioned determination, based on information manually set by the rider. This allows the rider to switch between the first mode and the second mode according to his / her preference. For example, if the rider prefers the second mode in which the positional relationship approaching operation is started quickly as the operation of the blinker switch 15 is started, the rider can select the second mode instead of the first mode.

[0123] Preferably, in the control device 20, the execution unit 22 determines the criteria for the above-mentioned determination based on information manually set by the rider. This allows the rider to change the criteria for the above-mentioned determination according to his / her preference. For example, in the processing example of FIG. 5 described above, the rider can make the positional relationship approach operation start more quickly after starting to operate the turn signal switch 15 by reducing the time threshold value or the number threshold value, which are the criteria for the above judgment.

[0137]

[0124] Preferably, in the control device 20, the execution unit 22 executes a notification operation to notify the rider of the information used in the above determination. This allows the rider to drive the vehicle after understanding the information used in the above determination.

[0138]

[0125] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0139] [Explanation of symbols]

[0140] [ 0 1 2 6 ]

[0141] 1 Motorcycle, 2 Leading vehicle, 11 Engine, 12 Hydraulic control unit, 13 Display device, 14 Turn signal lamp, 15 Turn signal switch, 16 Input device, 17 Surrounding environment sensor, 18 Front wheel speed sensor, 19 Rear wheel speed sensor, 2〇 Control device, 21 Acquisition unit, 22 Execution unit, A! Solid arrow, A2 Dashed arrow, L1 Lane, L2 Lane, LV Lane boundary, TH Min value.

Claims

[Document name] Scope of claims

1. A control device (20) for controlling the behavior of a motorcycle (1), comprising an execution unit (22) for executing a control mode in which a positional relationship adjustment operation is executed to adjust the positional relationship between the motorcycle (1) and a preceding vehicle (2) of the motorcycle (1) to a target positional relationship by automatically accelerating or decelerating the motorcycle (1), wherein the execution unit (22) determines whether or not the rider of the motorcycle (1) continues to intend to overtake the preceding vehicle (2) based on operation information of a turn signal switch (15) that is a switch for turning on a turn signal lamp (14) during the positional relationship adjustment operation, and the execution unit (22) controls a positional relationship approach operation in which the positional relationship between the motorcycle (1) and the preceding vehicle (2) is controlled to be closer to the target positional relationship based on the result of the determination. Control device.

2. The control device according to claim 1, wherein the operation information is information indicating the duration of operation of the turn signal switch (15).

3. The control device according to claim 2, wherein the execution unit (22) determines that the intention is continuing when the operation information indicates that the duration has reached a time limit.

4. The control device according to claim 1, wherein the operation information is information indicating the number of times the turn signal switch (15) is operated within a reference time.

5. The control device according to claim 4, wherein the execution unit (22) determines that the intention is continuing when the operation information indicates that the number of times has reached a minimum number of times.

6. A control device as described in any one of claims 1 to 5, wherein the execution unit (22) starts the positional relationship approach action when it determines that the intention is continuing, and does not start the positional relationship approach action when it determines that the intention is not continuing.

7. A control device as described in any one of claims 1 to 5, wherein the execution unit (22) continues the positional relationship approach action being executed when it determines that the intention is continuing, and ends the positional relationship approach action being executed when it determines that the intention is not continuing.

8. A control device as claimed in any one of claims 1 to 5, wherein the execution unit (22) terminates the positional relationship approaching action being executed based on the operation information while the positional relationship approaching action is being executed.

9. The control device according to any one of claims 1 to 5, wherein the execution unit (22) starts lighting up the turn signal lamp (14) in response to the start of operation of the turn signal switch (15), and continues lighting up the turn signal lamp (14) even when it is determined that the intention is not continued. [Claim 1〇] 6. The control device according to claim 1, wherein the execution unit (22) switches between a first mode in which the positional relationship approaching operation is controlled based on the result of the determination and a second mode in which the positional relationship approaching operation is controlled regardless of the result of the determination, based on manual setting information by the rider.

11. A control device described in any one of claims 1 to 5, wherein the execution unit (22) determines the criteria for the judgment based on manual setting information by the rider.

12. A control device described in any one of claims 1 to 5, wherein the execution unit (22) executes an alarm operation to notify the rider of information used in the judgment.

13. A control method for controlling the behavior of a motorcycle (1), wherein an execution unit (22) of a control device (20) executes a control mode in which a positional relationship adjustment operation is executed to adjust the positional relationship between the motorcycle (1) and a preceding vehicle (2) of the motorcycle (1) to a target positional relationship by automatically accelerating or decelerating the motorcycle (1), and the execution unit (22) determines whether or not the rider of the motorcycle (1) continues to intend to overtake the preceding vehicle (2) based on operation information of a turn signal switch (15) that is a switch for turning on a turn signal lamp (14) during the execution of the positional relationship adjustment operation, and the execution unit (22) controls the motorcycle (1) and the preceding vehicle (2) based on the result of the determination. and controlling a positional relationship approaching operation such that the positional relationship with the target object is controlled to be closer to the target object than the target positional relationship.

Images