Controller and control method for a motorcycle

Abstract

Provided are a control device (16) and a control method with which it is possible to improve the safety of a rider of a motorcycle (1). A control device (16) is provided with an execution unit (16b) that executes a control mode in which a positional relationship adjustment operation is executed to adjust the positional relationship between a motorcycle (1) and a preceding vehicle (4) ahead of the motorcycle (1) to a target positional relationship. Furthermore, when the motorcycle (1) is traveling in a passing lane (L1), the execution unit (16b) executes, in the control mode, a safety operation for the rider of the motorcycle (1) on the basis of information indicating the pace at which another vehicle (5) approaches the motorcycle (1) while traveling diagonally behind the motorcycle (1) in a traveling lane adjacent to the passing lane (L1).

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device and motorcycle 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] Conventionally, there are known technologies for assisting riders of saddle-ride vehicles such as motorcycles in driving. For example, Patent Document 1 discloses a rider 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] One technology for assisting motorcycle driving is a positional relationship adjustment operation that automatically accelerates or decelerates the host vehicle to adjust the positional relationship between the host vehicle and a preceding vehicle to a target positional relationship. While a control mode in which the positional relationship adjustment operation is performed is in operation, if a motorcycle is traveling in an overtaking lane designated for overtaking vehicles, a vehicle traveling diagonally behind the motorcycle in a driving lane adjacent to the overtaking lane but different from the overtaking lane may suddenly approach the motorcycle and then cut in front of the motorcycle. Because the driving lane is not designated for overtaking vehicles, it is difficult for a motorcycle rider traveling in the overtaking lane to predict the sudden cut-in of another vehicle traveling in the driving lane. This can make it difficult to take measures such as slowing down the motorcycle in advance to make it easier for the other vehicle to cut in front of the motorcycle. Therefore, under such circumstances, it can be assumed that the stability of the motorcycle's body behavior is easily affected by the sudden cutting-in of other vehicles.

[0014]

[0005] Furthermore, because motorcycles have fewer wheels supporting the body than four-wheeled vehicles and the distance between the wheels is shorter than that of four-wheeled vehicles, the body tilts and pitches more easily than four-wheeled vehicles. For these reasons, in the control mode in which the positional relationship adjustment operation is performed, it can be assumed that the stability of the body behavior of a motorcycle traveling in the passing lane is more susceptible to the influence of another vehicle suddenly cutting in from the driving lane than four-wheeled vehicles such as automobiles. Specifically, for example, if another vehicle suddenly cuts in as described above while the positional relationship adjustment operation is being performed, the other vehicle is recognized as a new preceding vehicle, and the positional relationship between the motorcycle and the other vehicle is adjusted to the target positional relationship, which can cause the motorcycle to suddenly decelerate and destabilize the body posture of the motorcycle. Therefore, there is a demand for a control device that can improve the safety of motorcycle riders in the control mode.

[0015]

[0006] The present invention has been made in light of the above circumstances, and aims to provide a control device that executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between a motorcycle and a vehicle preceding the motorcycle to a target positional relationship, and that can improve the safety of the motorcycle rider in the control mode. Another aim of the present invention is to provide a control method that executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between a motorcycle and a vehicle preceding the motorcycle to a target positional relationship, and that can improve the safety of the motorcycle rider in the control mode.

[0016]

[0007] To solve the above problems, the control device of 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 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 further, when the motorcycle is traveling in an overtaking lane that is a lane designated for overtaking vehicles, the execution unit in the control mode executes a safety operation for the rider of the motorcycle based on information indicating the speed of an approach to the motorcycle of another vehicle traveling diagonally behind the motorcycle in a traveling lane adjacent to but different from the overtaking lane.

[0017] [0 0 0 8] A control method according to the present invention for solving the above-mentioned problems 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 further, when the motorcycle is traveling in an overtaking lane designated for overtaking vehicles, the execution unit executes a safety operation for the rider of the motorcycle in the control mode based on information indicating the speed of an approach to the motorcycle of another vehicle traveling diagonally behind the motorcycle in a traveling lane adjacent to but different from the overtaking lane.

[0018] [Effects of the Invention]

[0019]

[0009] The present invention provides a control device that executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between a motorcycle and a vehicle preceding the motorcycle to a target positional relationship, and in which the safety of the motorcycle rider can be improved in the control mode. Also, the present invention provides a control device that executes a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between a motorcycle and a vehicle preceding the motorcycle to a target positional relationship, and in which the safety of the motorcycle rider can be improved in the control mode.

[0020] BRIEF DESCRIPTION OF THE DRAWINGS

[0021] [ 0 0 1 0 ]

[0022] [Figure 1] A schematic diagram showing an example of the general configuration of a motorcycle.

[0023] [Figure 2] A block diagram showing an example of the functional configuration of a control device.

[0024] [Figure 3] A schematic diagram showing a motorcycle traveling behind a vehicle ahead of the motorcycle.

[0025] [Figure 4] A flowchart showing an example of the flow of processing (control flow) performed by the control device during execution of a control mode in which a positional relationship adjustment operation is performed to adjust the positional relationship between the motorcycle and a preceding vehicle to a target positional relationship.

[0026] [Figure 5] A schematic diagram showing a situation in which a motorcycle is traveling in the passing lane and other vehicles are traveling in the driving lane.

[0027] [Mode for Carrying Out the Invention]

[0028]

[0011] The control device according to the present invention will be described below with reference to the drawings.

[0029]

[0012] The configurations, operations, etc. described below are examples, and the present invention is not limited to such configurations, operations, etc.

[0030]

[0013] In the following, the same or similar descriptions are simplified or omitted as appropriate. In addition, in each drawing, the same or similar members or parts are not designated by symbols, or are designated by the same symbols. In addition, the illustration of detailed structures is simplified or omitted as appropriate.

[0031]

[0014] With reference to Figures 1 and 2, the configuration of a control device 16 according to an embodiment of the present invention and a motorcycle 1 equipped with the control device 16 will be described.

[0032]

[0015] Fig. 1 is a schematic diagram showing an example of the overall configuration of a motorcycle 1. In Fig. 1, motorcycle 1 is shown as a two-wheeled motorcycle, but motorcycle 1 in this embodiment is not limited to this and may be a motorcycle other than a two-wheeled motorcycle (for example, a three-wheeled motorcycle). Furthermore, motorcycle 1 may be, for example, a motorcycle, a scooter, an electric scooter, etc. Motorcycle 1 may be a motorcycle powered by an engine or a motorcycle powered by an electric motor.

[0033]

[0016] As shown in Figure 1, motorcycle 1 includes, for example, a drive source 11, a brake control unit 12, a notification unit 13, an ambient environment sensor 14, a wheel speed sensor 15, and a control device 16. However, the configuration of motorcycle 1 is not limited to this, and for example, it may be configured without at least one of brake control unit 12, notification unit 13, ambient environment sensor 14, and wheel speed sensor 15.

[0034]

[0017] The drive source 11 outputs a drive force that is transmitted to a drive wheel (e.g., rear wheel 3) of the motorcycle 1. In this embodiment, the drive source 11 is an engine, but is not limited to this and may be, for example, an electric motor.

[0035]

[0018] Brake control unit 12 is a unit that controls and adjusts the braking force applied to the wheels of motorcycle 1. The wheels may be front wheels 2 and rear wheels 3 of motorcycle 1, or only front wheels 2 or only rear wheels 3. Brake control unit 12 is, for example, a fluid pressure adjustment unit that adjusts the braking force applied to the wheels by adjusting the hydraulic pressure of brake fluid in wheel cylinders (not shown). Note that brake control unit 12 may also be a control unit that controls the position of the braking parts (such as brake pads) of the wheels of motorcycle 1 using electrical signals (so-called brake-by-wire).

[0036]

[0019] The notification unit 13 notifies the rider of information. Notification methods include, for example, visual notification and auditory notification. Examples of the notification unit 13 include a liquid crystal display, a lamp (for example, an indicator lamp), and a buzzer. The position at which the notification unit 13 is provided on the motorcycle 1 is not particularly limited. For example, the notification unit 13 may be provided near the mirror of the motorcycle 1, or may be provided forward of the handlebars of the motorcycle 1. The notification unit 13 may also be provided on clothing worn by the rider (such as a helmet or gloves).

[0037]

[0020] The ambient environment sensor 14 detects ambient environment information relating to the environment around the motorcycle 1. In the motorcycle 1 shown in Fig. 1, the ambient environment sensor 14 is provided at the front and rear of the body of the motorcycle 1, but the ambient environment sensor 14 may be provided in other positions. For example, the ambient environment sensor 14 may be provided on the side of the body of the motorcycle 1 in addition to the front and rear of the body, or may be provided on a mirror of the motorcycle 1.

[0038]

[0021] The surrounding environment information detected by the surrounding environment sensor 14 may be information related to the distance or direction to an object located around the motorcycle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, passing time difference, time to collision, etc.), or information related to the characteristics of the object located around the motorcycle 1 (e.g., the type of the object, the shape of the object, marks attached to the object, etc.). Examples of the surrounding environment sensor 14 include radar, a lidar sensor, an ultrasonic sensor, a camera, etc. Examples of the object include vehicles (e.g., two-wheeled, three-wheeled, four-wheeled, etc.), obstacles (e.g., trees, rocks, etc.), animals, people, etc.

[0039]

[0022] Wheel speed sensor 15 is a sensor that detects the wheel speed of the wheels of motorcycle 1 (for example, the number of rotations of the wheel [rpm] or the distance traveled per unit time [km / h]). Wheel speed sensor 15 may also detect other physical quantities that can be substantially converted into the wheel speed of the wheels of motorcycle 1. In the example of FIG. 1, wheel speed sensor 15 is provided on front wheel 2 and rear wheel 3 of motorcycle 1, but the location at which wheel speed sensor 15 is provided is not limited to this. For example, wheel speed sensor 15 may be provided only on front wheel 2, or only on rear wheel 3.

[0040]

[0023] The control device 16 controls the behavior of the motorcycle 1. The control device 16 also has the function of communicating with each device mounted on the motorcycle 1. Some or all of the control device 16 may be configured as a microcomputer, microprocessor unit, or the like, and may be configured as updatable firmware, etc. Some or all of the control device 16 may be a program module executed by commands from a CPU, etc. In the motorcycle 1, the control device 16 may be integrated into one unit, or may be divided into multiple units.

[0041]

[0024] Figure 2 is a block diagram showing an example of the functional configuration of the control device 16. As shown in Figure 2, the control device 16 has, for example, an acquisition unit 16a and an execution unit 16b. Note that the control device 16 may be configured such that the execution unit 16b performs the function of the acquisition unit 16a.

[0042]

[0025] The acquisition unit 16a acquires information from each device mounted on the motorcycle 1 and outputs it to the execution unit 16b and the like. For example, the acquisition unit 16a acquires information from the ambient environment sensor 14 and the like. Also, for example, if the motorcycle 1 is equipped with a communication device capable of communicating with an external device (for example, an ambient environment sensor mounted on another vehicle, or an ambient environment sensor provided on road equipment), the acquisition unit 16a may acquire various information by wireless communication using the communication device. Note that in the present invention, "acquiring information" can include extracting or generating information.

[0043]

[0026] The execution unit 16b 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 (see preceding vehicle 4 in Figure 3 described below) to a target positional relationship by automatically accelerating or decelerating the motorcycle 1. In other words, the execution unit 16b has the function of executing the positional relationship adjustment operation.

[0044]

[0027] Examples of the positional relationship adjustment operation include adaptive cruise control. Hereinafter, an example in which adaptive cruise control is executed as the positional relationship adjustment operation will be described, but the positional relationship adjustment operation is not limited to this. For example, the positional relationship adjustment operation may be an operation that is not released even when the rider operates the accelerator, and that changes the target positional relationship according to the amount of accelerator operation by the rider.

[0045]

[0028] In the control mode described above, the execution unit 16b can execute a positional relationship adjustment operation. For example, when the motorcycle 1 is in a starting state, the control mode described above is not executed, but when the rider operates a switch using an input device (including, for example, a push button used for rider operation) mounted on the motorcycle 1, the control mode described above is executed.

[0046]

[0029] Here, during execution of the control mode, the state of the control mode can transition between a state in which the positional relationship adjustment operation is actually being performed and a state in which the positional relationship adjustment operation is temporarily suspended and not being performed. For example, during execution of the control mode, if a preceding vehicle 4 whose positional relationship is to be adjusted is detected, the execution unit 16b can execute the positional relationship adjustment operation. On the other hand, during execution of the control mode, if a preceding vehicle 4 whose positional relationship is to be adjusted is not detected, the execution unit 16b does not execute the positional relationship adjustment operation or temporarily suspends the positional relationship adjustment operation being performed. In this case, for example, during the control mode, the execution unit 16b executes an operation to adjust the speed of the motorcycle 1 to a target speed. The target speed can be manually set by, for example, the rider. Note that the target speed may be set in advance and stored in a memory element of the control device 16. Alternatively, the target speed may be set automatically based on map information or the like.

[0047]

[0030] Figure 3 is a schematic diagram showing a state in which the motorcycle 1 is traveling behind a preceding vehicle 4. In the example of Figure 3, the preceding vehicle 4 traveling in front of the motorcycle 1 in the same lane as the motorcycle 1 is detected by, for example, the surrounding environment sensor 14. When the execution unit 16b executes a positional relationship adjustment operation at this time, the positional relationship between the motorcycle 1 and the preceding vehicle 4 can be adjusted to a target positional relationship. This allows the motorcycle 1 to follow the preceding vehicle 4.

[0048]

[0031] In the example of Figure 3, the leading vehicle 4 is a four-wheeled automobile, but is not limited to this. For example, the leading vehicle 4 may be a motorcycle, a three-wheeled automobile, etc.

[0049]

[0032] In the positional relationship adjustment operation, for example, a target passing time difference is set (for example, this can be set by the rider), which is a target value for the passing time difference between the motorcycle 1 and the preceding vehicle 4 (specifically, the time it takes for the motorcycle 1 to pass the current position of the preceding vehicle 4 from the current time), and the execution unit 16b controls the speed of the motorcycle 1 so that this passing time difference is maintained at the target passing time difference. In other words, the positional relationship where the passing time difference becomes the target passing time difference corresponds to the target positional relationship. In this type of control, for example, the acquisition unit 16a acquires the passing time difference based on information about the surrounding environment of the motorcycle 1, and the execution unit 16b controls the speed of the motorcycle 1 as described above based on the passing time difference acquired by the acquisition unit 16a.

[0050]

[0033] In the positional relationship adjustment operation, for example, a target inter-vehicle distance, which is a target value for the inter-vehicle distance between the motorcycle 1 and the preceding vehicle 4, is set (for example, this can be set by the rider), and the execution unit 16b may control the speed of the motorcycle 1 so that the inter-vehicle distance is maintained at the target inter-vehicle distance. In this case, the positional relationship where the inter-vehicle distance becomes the target inter-vehicle distance corresponds to the target positional relationship. Note that the inter-vehicle distance may be the distance along the lane in which the motorcycle 1 is traveling, or may be the straight-line distance. In this type of control, for example, the acquisition unit 16a acquires the inter-vehicle distance based on information about the surrounding environment of the motorcycle 1, and the execution unit 16b can control the speed of the motorcycle 1 as described above based on the inter-vehicle distance acquired by the acquisition unit 16a.

[0051] For example, the execution unit 16 b controls the speed of the motorcycle 1 based on information about the speed of the motorcycle 1 obtained based on the wheel speed of the front wheel 2 and the wheel speed of the rear wheel 3. There are no particular limitations on the method by which the execution unit 16 b controls the speed of the motorcycle 1.

[0052] For example, the execution unit 16 b may control the speed of the motorcycle 1 by controlling the driving force acting on the motorcycle 1 to increase or decrease the acceleration of the motorcycle 1. The control of the driving force can be performed, for example, by the execution unit 16 b controlling the operation of the driving source 11. The execution unit 16 b may also control the speed of the motorcycle 1 by controlling the driving force acting on the motorcycle 1 to increase or decrease the deceleration of the motorcycle 1.

[0053]

[0036] For example, the execution unit 16b may control the speed of the motorcycle 1 by controlling the braking force acting on the wheels of the motorcycle 1 to control the deceleration of the motorcycle 1. The control of the braking force can be performed, for example, by the execution unit 16b controlling the operation of the brake control unit 12. The execution unit 16b may also control the speed of the motorcycle 1 by controlling the braking force acting on the wheels of the motorcycle 1 to control the acceleration of the motorcycle 1.

[0054]

[0037] In this way, the positional relationship adjustment operation is performed by automatically controlling the speed of the motorcycle 1 without relying on the rider's acceleration / deceleration operations (i.e., accelerator and brake operations).

[0055]

[0038] <Operation of the control device> The operation of the control device 16 according to this embodiment will be described with reference to Figs. 4 and 5.

[0056]

[0039] As described above, when the control mode is being executed, if the motorcycle 1 is traveling in the overtaking lane L1, which is a lane designated for overtaking vehicles, another vehicle 5 traveling diagonally behind the motorcycle 1 in a different travel lane L2 adjacent to the overtaking lane L1 may suddenly approach the motorcycle 1 and then cut in front of the motorcycle 1. Because the travel lane L2 is not designated for overtaking vehicles, it is difficult for the rider of the motorcycle 1 traveling in the overtaking lane L1 to predict that the other vehicle 5 traveling in the travel lane L2 will suddenly cut in front of the motorcycle 1. This can make it difficult to take measures such as slowing down the motorcycle 1 in advance to make it easier for the other vehicle 5 to cut in front of the motorcycle 1. Therefore, under such circumstances, it can be assumed that the stability of the motorcycle 1's body behavior is easily affected by the sudden cutting in of another vehicle 5.

[0057]

[0040] Furthermore, because the motorcycle 1 has fewer wheels supporting the body than a four-wheeled vehicle and the distance between the wheels is shorter than that of a four-wheeled vehicle, the motorcycle 1 is more susceptible to tilting and pitching than a four-wheeled vehicle. For these reasons, in the control mode in which the positional relationship adjustment operation is performed, the stability of the motorcycle 1's body behavior is likely to be more susceptible to the sudden cutting-in of another vehicle 5 than that of a four-wheeled vehicle such as an automobile. Specifically, if another vehicle 5 suddenly cuts in as described above while the positional relationship adjustment operation is being performed, the other vehicle 5 is recognized as a new leading vehicle 4, and the motorcycle 1 may suddenly decelerate in order to adjust the positional relationship between the motorcycle 1 and the other vehicle 5 to the target positional relationship. This may result in, for example, a large pitch, which may cause the motorcycle 1's body posture to become unstable. Therefore, there is a need for a control device that can improve the safety of the rider of motorcycle 1 in the above control modes.

[0058] In contrast, in this embodiment, when the motorcycle 1 is traveling in an overtaking lane L1, a lane designated for overtaking vehicles, the execution unit 16 b executes a safety operation for the rider of the motorcycle 1 in the control mode based on information indicating the speed of approach to the motorcycle 1 of another vehicle 5 traveling diagonally behind the motorcycle 1 in a different traveling lane L2 adjacent to the overtaking lane L1. This makes it possible to prepare in advance for a possible future attempt by another vehicle 5 from the traveling lane L2 to suddenly cut in front of the motorcycle 1 traveling in the overtaking lane L1. As a result, for example, sudden deceleration of the motorcycle 1 due to the sudden cut-in of the other vehicle 5 can be suppressed, thereby improving the safety of the rider of the motorcycle 1.

[0059]

[0042] Figure 4 is a flowchart showing an example of the flow of processing (control flow) performed by the control device 16 while the control mode is being executed. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4. The control flow shown in Figure 4 may be executed while the positional relationship adjustment operation is being executed in the control mode, or may be executed when the positional relationship adjustment operation is not being executed. The positional relationship adjustment operation may be executed at any timing in the control flow shown in Figure 4.

[0060]

[0043] Fig. 5 is a schematic diagram showing a state in which motorcycle 1 is traveling in an overtaking lane L1 and another vehicle 5 is traveling in a driving lane L2. In the example of Fig. 5, overtaking lane L1 is the lane located on the rightmost side of multiple lanes in the direction of travel D of motorcycle 1, but this is not limited to this. For example, in an area where overtaking lane L1 is defined as being located on the left, overtaking lane L1 may be the lane located on the leftmost side of multiple lanes in the direction of travel D of motorcycle 1. In the example of Fig. 5, other vehicle 5 is a four-wheeled automobile, but this is not limited to this. For example, leading vehicle 4 may be a motorcycle, a three-wheeled automobile, etc.

[0061]

[0044] After the control flow in Figure 4 starts, in step S102, the execution unit 16b determines whether the motorcycle 1 is traveling in the passing lane L1. In the present invention, "passing lane" means a lane designated for overtaking vehicles. If the execution unit 16b determines in step S102 that the motorcycle 1 is traveling in the passing lane L1, the process of step S103 is performed. In the example of Figure 4, if it is not determined in step S102 that the motorcycle 1 is traveling in the passing lane L1, the process of step S102 is performed again. Note that if it is not determined in step S102 that the motorcycle 1 is traveling in the passing lane L1, the execution unit 16b may end the process.

[0062]

[0045] The method for determining whether the motorcycle 1 is traveling in the passing lane L1 is not particularly limited. For example, the execution unit 16 b may determine whether the motorcycle 1 is traveling in the passing lane L1 based on location information of the motorcycle 1 obtained from a GPS signal or the like and map information. Furthermore, for example, if the surrounding environment sensor 14 is a camera, the execution unit 16 b may determine that the motorcycle 1 is traveling in the passing lane L1 when the motorcycle 1 is traveling in the rightmost lane of multiple lanes detected by the camera in relation to the traveling direction D of the motorcycle 1. Furthermore, for example, if the surrounding environment sensor 14 is a camera, and in an area where the passing lane L1 is defined as being located on the left side, the execution unit 16 b may determine that the motorcycle 1 is traveling in the passing lane L1 if, among multiple lanes detected by the camera, the motorcycle 1 is traveling in the leftmost lane in the direction D of travel of the motorcycle 1. Furthermore, for example, if the surrounding environment sensor 14 is a radar, the execution unit 16 b may determine that the motorcycle 1 is traveling in the passing lane L1 if the motorcycle 1 is traveling in the lane in which the motorcycle 1 is closest to an obstacle (e.g., a guardrail, tree, curb, etc.) in the median strip of the road.

[0063]

[0046] After step S102, in step S103, the execution unit 16b determines whether the traveling speed of the motorcycle 1 is higher than the reference value. If the execution unit 16b determines in step S103 that the traveling speed of the motorcycle 1 is higher than the reference value, the process of step S104 is performed. In the example of FIG. 4, if the execution unit 16b does not determine in step S103 that the traveling speed of the motorcycle 1 is higher than the reference value, the process of step S102 is performed again. If the execution unit 16b does not determine in step S103 that the traveling speed of the motorcycle 1 is higher than the reference value, the execution unit 16b may end the process.

[0064]

[0047] The method for determining whether the traveling speed of the motorcycle 1 is higher than the reference speed is not particularly limited. For example, the execution unit 16b determines whether the speed of the motorcycle 1 is higher than the reference speed based on the wheel speeds of the front wheel 2 and the rear wheel 3 obtained from the wheel speed sensor 15. The reference traveling speed is a value smaller than the target speed during the operation of adjusting the speed of the motorcycle 1 to the target speed. The reference traveling speed may be adjusted by the rider, or may be automatically adjusted according to the target speed during the operation of adjusting the speed to the target speed. The reference traveling speed is, for example, 60 km / h to 70 km / h.

[0048] After step S103, in step S104, the execution unit 16b determines whether a vehicle 4 is ahead of the motorcycle 1. If the execution unit 16b determines in step S104 that a preceding vehicle 4 exists, the processing of step S105 is performed. Also, in the example of Fig. 4, if the execution unit 16b does not determine in step S104 that the preceding vehicle exists, the processing of step S102 is performed again. Note that if the execution unit 16b does not determine in step S104 that a preceding vehicle 4 exists, the execution unit 16b may end the processing.

[0065]

[0049] The method for determining whether or not there is a preceding vehicle 4 is not particularly limited. For example, the execution unit 16 b determines whether or not there is a preceding vehicle 4 based on whether or not the preceding vehicle 4 has been detected by the surrounding environment sensor 14. Also, for example, if the motorcycle 1 is provided with a communication device capable of communicating with an external surrounding environment sensor (for example, a surrounding environment sensor mounted on another vehicle or a surrounding environment sensor provided on road equipment), the execution unit 16 b may determine whether or not there is a preceding vehicle 4 based on information obtained by wireless communication from the communication device.

[0066]

[0050] After step S104, in step S105, the execution unit 16b determines whether the positional relationship between the motorcycle 1 and the preceding vehicle 4 satisfies a criterion. If the execution unit 16b determines in step S105 that the positional relationship satisfies the criterion, the processing of step S106 is performed. Also, in the example of FIG. 4, if the execution unit 16b does not determine in step S105 that the positional relationship satisfies the criterion, the processing of step S102 is performed again. Note that if the execution unit 16b does not determine in step S105 that the positional relationship satisfies the criterion, the execution unit 16b may end the processing.

[0067]

[0051] The positional relationship may be, for example, the relative distance between the motorcycle 1 and the preceding vehicle 4, or the passing time difference between the motorcycle 1 and the preceding vehicle 4. If the positional relationship is the relative distance, in step S105, the execution unit 16b determines whether the relative distance d satisfies k1dk2 (where ki is the first minimum value of the relative distance, k2 is the second minimum value of the relative distance, and k<k2 is satisfied). Also, if the positional relationship is the passing time difference, in step S105, the execution unit 16b determines whether the passing time difference △t satisfies ka<dkb (where ka is the first minimum value of the passing time difference, kb is the second minimum value of the passing time difference, and k<k2 is satisfied). a く k b satisfy).

[0068]

[0052] The method for determining whether the positional relationship satisfies the criteria is not particularly limited. For example, the execution unit 16b determines whether the positional relationship satisfies the criteria based on the output information of the ambient environment sensor 14. Also, for example, if the motorcycle 1 is equipped with a communication device capable of communicating with an external ambient environment sensor (for example, an ambient environment sensor mounted on another vehicle or an ambient environment sensor installed on road equipment), the execution unit 16b may determine whether the positional relationship satisfies the criteria based on information obtained by wireless communication of the communication device. In the present invention, "output information" may be the output itself or information extracted from the output.

[0069]

[0053] After step S105, in step S106, the execution unit 16b determines whether to implement a safety action for the rider of the motorcycle 1 based on information indicating the speed of the approach of another vehicle 5 traveling diagonally behind the motorcycle 1 in the driving lane L2 adjacent to the overtaking lane L1. Specifically, for example, the execution unit 16b determines to implement the safety action if the information indicating the speed of the approach does not satisfy a criterion. In the present invention, a "driving lane" refers to a lane not designated for overtaking vehicles. If the execution unit 16b determines in step S106 to implement the safety action, step S107 is executed. 4, if the execution unit 16b does not determine in step S106 that the safety operation is to be performed, the processing of step S102 is performed again. Note that if the execution unit 16b does not determine in step S106 that the safety operation is to be performed, the processing of step S102 may be terminated.

[0070]

[0054] The presence of another vehicle 5 traveling diagonally behind the motorcycle 1 in the driving lane L2 adjacent to the overtaking lane L1 can be determined by, for example, the execution unit 16b based on the output information of the ambient environment sensor 14. Also, for example, if the motorcycle 1 is equipped with a communication device capable of communicating with an external ambient environment sensor (for example, an ambient environment sensor mounted on another vehicle or an ambient environment sensor provided on road equipment), the execution unit 16b may determine the presence of the other vehicle 5 based on information obtained by wireless communication from the communication device.

[0071]

[0055] The type of information indicating the speed of the approach is not particularly limited. Examples of the type of information indicating the speed of the approach include information indicating the relative speed of the other vehicle 5 with respect to the motorcycle 1. For example, if the information indicating the speed of the approach indicates the relative speed of the other vehicle 5 with respect to the motorcycle 1, the execution unit 16b determines that the safety action should be performed if the relative speed is higher than a reference value. The reference value for the relative speed may be adjusted as appropriate.

[0072]

[0056] The information indicating the rate of approach may be TTC (Time TO Collision), ETTC (Enhanced Time TO Collision), etc. In these cases, for example, when these parameters are lower than the reference values, the execution unit 16b determines to execute the safety operation.

[0073]

[0057] The information indicating the speed of the approach may be information based on output information from the ambient environment sensor 14 mounted on the motorcycle 1, or may be information obtained by wireless communication from a communication device mounted on the motorcycle 1 and capable of communicating with an external device (for example, an ambient environment sensor mounted on another vehicle, or an ambient environment sensor provided on road equipment).

[0074]

[0058] After Step S106, in Step S107, the execution unit 16b executes a safety action for the rider of the motorcycle 1 based on the information indicating the speed of the approach. In the example of FIG. 4, Step S102 is performed again after Step S107, but this is not limiting, and the execution unit 16b may end the process after Step S107.

[0075]

[0059] The execution unit 16b may execute the safety operation in the control mode, but preferably executes the safety operation while the positional relationship adjustment operation is being performed. During the positional relationship adjustment operation, the positional relationship between the motorcycle 1 and the preceding vehicle 4 is adjusted to a target positional relationship. If another vehicle 5 suddenly cuts in front of the motorcycle 1 traveling in the passing lane L1 from the driving lane L2 while the positional relationship adjustment operation is being performed, the cutting-in vehicle 5 is recognized as the motorcycle 1's new preceding vehicle. This may cause the motorcycle 1 to suddenly decelerate in order to adjust the positional relationship between the cutting-in vehicle 5 and the motorcycle 1 to the target positional relationship. This makes the vehicle behavior of the motorcycle 1 particularly unstable, making it difficult to improve rider safety. In contrast to this, in this embodiment, the safety operation is performed based on information indicating the speed or slowness of the approach of the other vehicle 5, so even when the other vehicle 5 suddenly cuts in while the positional relationship adjustment operation is being performed, it is possible to prevent the body behavior of the motorcycle 1 from becoming unstable. Therefore, by performing the safety operation while the positional relationship adjustment operation is being performed, the effect of improving the safety of the rider is significantly achieved.

[0076]

[0060] Examples of the safety operation performed during the positional relationship adjustment operation include an operation to correct the target positional relationship. Specifically, the operation to correct the target positional relationship includes, for example, an operation to increase the target passing time difference, which is a target value for the passing time difference between the motorcycle 1 and the preceding vehicle 4, compared to when the safety operation is not performed. The operation to correct the target positional relationship may also include, for example, an operation to increase the target inter-vehicle distance, which is a target value for the inter-vehicle distance between the motorcycle 1 and the preceding vehicle 4, compared to when the safety operation is not performed.

[0077]

[0061] Examples of the safety operations executed during the positional relationship adjustment operation include an operation to correct the speed change rate of the motorcycle 1 during the positional relationship adjustment operation. Specifically, the operation to correct the speed change rate is, for example, an operation to suppress the acceleration of the motorcycle 1 during the positional relationship adjustment operation. Examples of the operation to suppress acceleration include an operation to reduce the acceleration of the motorcycle 1 compared to when the safety operation is not executed, and an operation to lower the upper limit of the acceleration of the motorcycle 1 compared to when the safety operation is not executed.

[0078]

[0062] When the positional relationship adjustment operation is not being performed, the safety operation may be, for example, an operation in which the notification unit 13 notifies the rider of information indicating the speed of the approach of another vehicle 5, an operation in which the notification unit 13 notifies the rider of the speed of the approach of another vehicle 5, an operation in which the rider is prompted to decelerate the motorcycle 1, an operation in which the acceleration of the motorcycle 1 is suppressed, or an operation in which the control mode is stopped or interrupted. When the positional relationship adjustment operation is being performed, the safety operation may be an operation in which the execution of the positional relationship adjustment operation is stopped or interrupted.

[0079] [ 0 0 6 3 ]

[0080] <Modification> In the above example, when it is determined that a leading vehicle 4 is present in step S103 of the control flow shown in Fig. 4, the execution unit 16b performs the processing from step S104 onwards. However, the present invention is not limited to this. For example, when it is not determined that a leading vehicle 4 is present in step S103, the execution unit 16b may perform the processing from step S104 onwards. In other words, the execution unit 16b may perform the safety operation described above in a situation where a leading vehicle 4 is not present.

[0081]

[0064] Also, at least one of step S103, step S104, and step S105 does not have to be included in the control flow performed by the control device 16.

[0082]

[0065] <Effects of the control device> The effects of the control device 16 according to the embodiment of the present invention will be described.

[0083]

[0066] The control device 16 is a control device that controls the behavior of the motorcycle 1, and includes an execution unit 16b 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 4 of the motorcycle 1 to a target positional relationship by automatically accelerating or decelerating the motorcycle 1. Furthermore, when the motorcycle 1 is traveling in an overtaking lane L1, which is a lane designated for overtaking vehicles, the execution unit 16b executes a safety operation for the rider of the motorcycle 1 in the control mode based on information indicating the speed of approach to the motorcycle of another vehicle 5 traveling diagonally behind the motorcycle 1 in a traveling lane L2 adjacent to but different from the overtaking lane L1.

[0084]

[0067] This makes it possible to prepare in advance for a possible future situation in which another vehicle 5 from the driving lane L2 suddenly cuts in front of the motorcycle 1 traveling in the passing lane L1. As a result, for example, sudden deceleration of the motorcycle 1 due to the sudden cut-in can be suppressed, thereby improving the safety of the rider of the motorcycle 1.

[0085]

[0068] The execution unit 16b preferably executes the safety operation when the traveling speed of the motorcycle 1 is higher than a reference speed. When the traveling speed of the motorcycle 1 is higher than the reference speed, if another vehicle 5 suddenly cuts in ahead of the motorcycle 1 traveling in the passing lane L1 from the traveling lane L2, causing the motorcycle 1 to suddenly decelerate, the sudden change in speed of the motorcycle 1 can cause greater pitching, making the body posture of the motorcycle 1 particularly unstable. In contrast, because the execution unit 16b executes the safety operation, even if another vehicle 5 suddenly cuts in when the traveling speed of the motorcycle 1 is higher than the reference speed, the body posture can be prevented from becoming unstable, thereby improving rider safety. Therefore, by having the execution unit 16b execute the safety operation when the traveling speed of the motorcycle 1 is higher than the reference speed, the effect of improving rider safety is significantly achieved.

[0086]

[0069] Furthermore, it is preferable that the execution unit 16b executes the safety operation when there is a preceding vehicle 4. When there is a preceding vehicle 4 and another vehicle 5 cuts in front of the motorcycle 1, it is possible that the other vehicle 5 will suddenly cut in between the motorcycle 1 and the preceding vehicle 4. In this case, the distance between the motorcycle 1 and the other vehicle 5 is likely to be short immediately after the cut-in, which makes it likely that the motorcycle 1 will suddenly decelerate. This makes it likely that the body posture of the motorcycle 1 will become unstable, making it difficult to particularly improve rider safety. In contrast, because the execution unit 16b executes the safety operation, even if there is a preceding vehicle 4 and another vehicle 5 suddenly cuts in, it is possible to prevent the body posture from becoming unstable and improve rider safety. Therefore, when the execution unit 16b executes the above safety operation in a situation where a preceding vehicle 4 is present, the effect of improving the rider's safety is significantly achieved.

[0087]

[0070] Furthermore, it is preferable that the execution unit 16b executes the safety operation when the positional relationship between the motorcycle 1 and the preceding vehicle 4 satisfies a criterion (for example, when the relative distance d satisfies the above-mentioned k! dk2, or when the passing time difference △t satisfies kaWd^kb). When the positional relationship satisfies the criterion, the other vehicle 5 is more likely to cut in front of the motorcycle 1, and the distance between the motorcycle 1 and the other vehicle 5 immediately after the cut-in is more likely to be shorter. As a result, the cut-in is more likely to cause the motorcycle 1 to suddenly decelerate, making the motorcycle 1's body posture more unstable. In contrast, because the execution unit 16b executes the safety operation, even if the other vehicle 5 suddenly cuts in when the relative distance between the motorcycle 1 and the preceding vehicle 4 satisfies the criterion, the destabilization of the body posture can be suppressed, thereby improving the rider's safety. Therefore, when the relative distance between the motorcycle 1 and the preceding vehicle 4 satisfies the standard, the execution unit 16b executes the above safety operation, which more significantly improves the rider's safety.

[0088]

[0071] Preferably, the execution unit 16b executes the safety operation while the positional relationship adjustment operation is being performed. During the positional relationship adjustment operation, the positional relationship between the motorcycle 1 and the preceding vehicle 4 is adjusted to a target positional relationship. If another vehicle 5 suddenly cuts in front of the motorcycle 1 traveling in the passing lane L1 from the driving lane L2 while the positional relationship adjustment operation is being performed, the cutting-in vehicle 5 is recognized as the new preceding vehicle of the motorcycle 1. This may cause the motorcycle 1 to suddenly decelerate in order to adjust the positional relationship between the cutting-in vehicle 5 and the motorcycle 1 to the target positional relationship. This can make the vehicle behavior of the motorcycle 1 particularly unstable. In contrast to this, in this embodiment, the safety operation is performed based on information indicating the speed or slowness of the approach of the other vehicle 5, so even when the positional relationship adjustment operation is being performed and the other vehicle 5 suddenly cuts in as described above, it is possible to prevent the body behavior of the motorcycle 1 from becoming unstable. Therefore, by performing the safety operation while the positional relationship adjustment operation is being performed, the effect of improving the safety of the rider can be significantly achieved.

[0089]

[0072] The safety operation during the positional relationship adjustment operation preferably includes an operation to correct the target positional relationship. This may increase the distance between the motorcycle 1 and the preceding vehicle 4, making it easier for the other vehicle 5 to cut in front of the motorcycle 1 while maintaining a sufficient distance between the other vehicle 5 and the motorcycle 1 in the direction D of travel of the motorcycle 1. As a result, the distance between the motorcycle 1 and the other vehicle 5 is less likely to become short immediately after cutting in, making it less likely that the motorcycle 1 will suddenly decelerate due to cutting in. Therefore, by performing the operation to correct the target positional relationship, it is possible to further prevent the body behavior of the motorcycle 1 from becoming unstable due to the sudden cutting in of the other vehicle 5, thereby further improving rider safety.

[0090]

[0073] The safety operation during the positional relationship adjustment operation preferably includes an operation to correct the speed change rate of the motorcycle 1. For example, if the leading vehicle 4 suddenly accelerates just before the other vehicle 5 cuts in front of the motorcycle 1, the positional relationship adjustment operation may cause the motorcycle 1 to suddenly accelerate to follow the leading vehicle 4. In this case, if the other vehicle 5 cuts in front of the motorcycle 1, the inter-vehicle distance between the motorcycle 1 and the other vehicle 5 is likely to become shorter immediately after the cut-in. This cut-in makes the motorcycle 1 more likely to suddenly decelerate, making the body posture of the motorcycle 1 unstable. In contrast, by performing the operation to correct the speed change rate, the motorcycle 1 is prevented from suddenly accelerating to follow the leading vehicle 4, even if the leading vehicle 4 suddenly accelerates, and the inter-vehicle distance between the motorcycle 1 and the other vehicle 5 is likely to become shorter immediately after the cut-in. As a result, sudden deceleration of the motorcycle 1 due to the sudden cutting in of another vehicle 5 is suppressed, and the safety of the rider can be further improved.

[0091]

[0074] Preferably, the information indicating the rate of approach is based on output information from the ambient environment sensor 14 mounted on the motorcycle 1. By using the information indicating the rate of approach obtained from the ambient environment sensor 14, the responsiveness of safety operations can be improved, thereby sufficiently improving the safety of the rider.

[0092]

[0075] In the control device 16 of the present invention, the above-described exemplary aspects may be implemented alone or in combination. The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0093]

[0076] As described above, the control device according to the present invention includes the following embodiments.

[0094]

[0001] A control device (16) for controlling the behavior of a motorcycle (1) includes an execution unit (16b) for executing 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 (4) of the motorcycle (1) to a target positional relationship by automatically accelerating or decelerating the motorcycle (1), and further, the execution unit (16b) executes a control mode in which the motorcycle (1) is set to a positional relationship for an overtaking vehicle.

[0095] 14 Surrounding environment sensor, 15 Wheel speed sensor, 16 Control device, 16a Acquisition unit, 16b Execution unit, L! Passing lane, L2 Driving lane

Claims

[Document name] Scope of claims

1. A control device (16) for controlling the behavior of a motorcycle (1) includes an execution unit (16b) 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 vehicle (4) preceding the motorcycle (1) to a target positional relationship by automatically accelerating or decelerating the motorcycle (1), and further, when the motorcycle (1) is traveling in an overtaking lane (L1) that is a lane designated for overtaking vehicles, the execution unit (16b) in the control mode executes a positional relationship adjustment operation to adjust the positional relationship between the motorcycle (1) and a vehicle (4) preceding the motorcycle (1) to a target positional relationship, based on information indicating the speed of approach to the motorcycle (1) of another vehicle (5) traveling diagonally behind the motorcycle (1) in a traveling lane (L2) adjacent to the overtaking lane (L1) but different from the overtaking lane (L1). A control device (16) that performs safety operations for the rider (1).

2. The control device (16) according to claim 1, wherein the execution unit (16b) executes the safety operation when the traveling speed of the motorcycle (1) is higher than a reference speed.

3. The control device (16) according to claim 1, wherein the execution unit (16b) executes the safety operation in a situation where the preceding vehicle (4) is present.

4. The control device (16) according to claim 3, wherein the execution unit (16b) executes the safety operation when a positional relationship between the motorcycle (1) and the preceding vehicle (4) satisfies a criterion.

5. The control device (16) according to claim 3, wherein the execution unit (16b) executes the safety operation while the positional relationship adjustment operation is being performed.

6. The control device (16) according to claim 5, wherein the safety operation includes an operation of correcting the target positional relationship. [Claim ?] The control device (16) according to claim 5, wherein the safety operation includes an operation of correcting a speed change rate of the motorcycle (1) during the positional relationship adjustment operation.

8. The control device (16) according to claim 1, wherein the execution unit (16b) executes the safety operation in a situation where the preceding vehicle (4) is not present.

9. The control device (16) according to claim 1, wherein the information indicating the rate of approach includes information indicating the relative speed of the other vehicle (5) with respect to the motorcycle (1).

1. The information indicating the speed of the approach is obtained from a surrounding environment sensor mounted on the motorcycle (1). The control device (16) according to any one of claims 1 to 9, wherein the information is based on output information of the control device (14).

11. The information indicating the speed of approach is information obtained by wireless communication using a communication device mounted on the motorcycle (1) and capable of communicating with an external device. A control device (16) according to any one of claims 1 to 9.

12. A control method for controlling the behavior of a motorcycle (1), wherein an execution unit (16b) of a control device (16) 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 (4) of the motorcycle (1) to a target positional relationship by automatically accelerating or decelerating the motorcycle (1), and further wherein the execution unit (16b) executes, in the control mode, when the motorcycle (1) is traveling in an overtaking lane (L1) designated for overtaking vehicles, a positional relationship adjustment operation for adjusting the positional relationship between the motorcycle (1) and a preceding vehicle (4) of the motorcycle (1) to a target positional relationship. and executing a safety operation for the rider of the motorcycle (1) based on information indicating the speed or slowness of the rider's approach to the motorcycle (1).

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