Control device and control method

Abstract

The present invention improves the operability of a saddle riding vehicle. An execution unit of this control device executes a control mode in which a speed adjustment operation for adjusting the speed of a saddle riding vehicle to a set speed is executed. A setting unit of the control device determines the set speed in accordance with an operation performed by a rider. In the control mode, the setting unit executes a set speed adjustment operation for adjusting the set speed on the basis of turning operation information that is information relating to a turning operation which is performed by the rider and in which an accelerator grip (5R) is turned from a reference state to a second state in which a reference unit (P0) is located in a second angular range (θ2) located in a second direction (D2) that is opposite a first direction (D1) with reference to a reference angle (A0), the accelerator grip (5R) having the reference unit (P0) which is located at the reference angle (A0) in a reference state where there is no operation performed by the rider and which alters a driving force produced in the saddle riding vehicle when turned in a first state in which the reference unit (P0) is located within a first angular range (θ1) located in the first direction (D1) with reference to the reference angle (A0).

Description

[0001]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004]

.001

[0005] This disclosure relates to a control device and a control method capable of improving the operability of a straddle-type vehicle.

[0006]

Background Art

[0007]

.002

[0008] Conventionally, various technologies for assisting the operation of a rider of a straddle-type vehicle such as a motorcycle have been proposed. For example, in Patent Document 1, a driver assistance system is disclosed that warns a rider of a motorcycle that they are approaching an obstacle inappropriately based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction.

Prior Art Documents

[0009]

Patent Documents

[0010]

〇003

[0011]

Patent Document 1

[0012]

Summary of the Invention

[0013]

Problems to be Solved by the Invention

[0014]

〇004

[0015] Incidentally, one technology to assist in vehicle operation is speed adjustment, which adjusts the vehicle's speed to a set speed. It is conceivable that this speed adjustment could be applied to a saddle-type vehicle. The set speed in the speed adjustment can be adjusted by the driver's operation. However, in a saddle-type vehicle, compared to a four-wheeled automobile, the rider needs to frequently check the road ahead while operating the vehicle, the switches and other operating parts are small, and the rider is wearing gloves, making it difficult to recognize the switches and other operating parts by touch. These factors can make it difficult to adjust the set speed in the speed adjustment operation. This can be a factor that reduces the operability of a saddle-type vehicle.

[0016]

〇 0 0 5

[0017] This invention was made against the backdrop of the above-mentioned problems, and aims to provide a control device and control method that can improve the operability of a saddle-type vehicle.

[0018] [Means for solving the problem]

[0019]

〇 0 0 6

[0020] The control device according to the present invention is a control device for controlling the behavior of a saddle-type vehicle, comprising an execution unit that executes a control mode in which a speed adjustment operation is performed to adjust the speed of the saddle-type vehicle to a set speed, and further comprising a setting unit that determines the set speed in accordance with the operation of the rider of the saddle-type vehicle, wherein in the control mode, the setting unit executes a set speed adjustment operation based on rotation operation information which is information regarding a rotation operation by the rider that rotates the accelerator grip, which changes the driving force generated in the saddle-type vehicle by rotation in a first state in which the reference part is positioned at a reference angle in a reference state when there is no operation by the rider, and the reference part is positioned in a first angular range located in a first direction relative to the reference angle, from the reference state to a second state in which the reference part is positioned in a second angular range located in the opposite direction to the first direction relative to the reference angle.

[0021]

〇 0 0 7

[0022] The control method according to the present invention is a control method for controlling the behavior of a saddle-type vehicle, wherein the execution unit of the control device executes a control mode in which a speed adjustment operation is performed to adjust the speed of the saddle-type vehicle to a set speed, and further, the setting unit of the control device determines the set speed in accordance with the operation of the rider of the saddle-type vehicle, and in the control mode, the setting unit executes a set speed adjustment operation based on rotation operation information, which is information regarding the rotation operation by the rider that rotates the accelerator grip, which changes the driving force generated in the saddle-type vehicle by rotation in a first state in which the reference part is located in a first angular range located in a first direction relative to the reference angle, from the reference state to a second state in which the reference part is located in a second angular range located in a second direction opposite to the first direction relative to the reference angle. [Effects of the Invention]

[0023] [ 0 0 0 8 ]

[0024] 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 speed adjustment operation is performed to adjust the speed of the saddle-type vehicle to a set speed. Furthermore, the setting unit of the control device determines the set speed in accordance with the operation by the rider of the saddle-type vehicle. In the control mode, the setting unit performs a set speed adjustment operation based on rotation operation information, which is information regarding the rotation operation by the rider to rotate the accelerator grip, which changes the driving force generated in the saddle-type vehicle by rotation in a first state in which the reference part is positioned at a reference angle in a reference state when there is no operation by the rider, and the reference part is positioned in a first angular range located in a first direction relative to the reference angle, from the reference state to a second state in which the reference part is positioned in a second angular range located in a second direction opposite to the first direction relative to the reference angle. As a result, the rider can adjust the set speed by a simple rotation operation, thereby improving the operability of the speed adjustment operation. Therefore, the operability of the saddle-type vehicle can be improved.

[0025] [Brief explanation of the drawing]

[0026] [ 0 0 0 9 ]

[0027] [Figure 1] A schematic diagram showing the general configuration of a saddle-type vehicle according to an embodiment of the present invention. [Figure 2] A schematic diagram showing the general configuration of the handle and its surroundings according to an embodiment of the present invention.

[0028] [Figure 3] A schematic diagram showing the general configuration of the accelerator grip according to an embodiment of the present invention. [Figure 4] A block diagram showing an example of the functional configuration of the control device according to an embodiment of the present invention. [Figure 5] A diagram illustrating the various states of the control modes according to an embodiment of the present invention. [Figure 6] A flowchart showing a first example of the processing flow performed by the control device according to an embodiment of the present invention.

[0029] [Figure 7] This is a flowchart showing a second example of the processing flow performed by the control device according to an embodiment of the present invention.

[0030] [Figure 8] This figure shows an example of a display in the notification operation according to an embodiment of the present invention.

[0031] [Modes for carrying out the invention]

[0032] [ 0 0 1 0 ]

[0033] The control device and control method according to the present invention will be described below with reference to the drawings.

[0034] [ 0 0 1 1 ]

[0035] Although the following description focuses on a control device used for two-wheeled motorcycles (see saddle-type vehicle 1 in Figure 1), the vehicle controlled by the control device according to the present invention may be other saddle-type vehicles besides two-wheeled motorcycles. A saddle-type vehicle refers to a vehicle that a rider straddles and rides on. Examples of saddle-type vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, buggies, etc. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle refers to a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0036] [ 0 0 1 2 ]

[0037] Furthermore, the following description assumes that an engine (specifically, engine 11 in Figure 1, which will be described later) is installed as a drive source capable of outputting power to drive the drive wheels. However, other drive sources (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed.

[0038] [0 0 1 3] Furthermore, the following describes a case in which a control unit that controls the hydraulic pressure of the brake fluid (specifically, the hydraulic pressure control unit 1 2 in Figure 1 described later) is used as the control unit for the braking force generated in the wheel. However, a control unit that controls the position of the braking part of the wheel itself by electrical signals (so-called brake-by-wire) may also be used as the control unit for the braking force generated in the wheel.

[0039] [ 0 0 1 4 ]

[0040] Furthermore, the configurations and operations described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

[0041] [ 0 0 1 5 ]

[0042] In the following, the same or similar descriptions are appropriately simplified or omitted. Also, in each figure, for the same or similar members or parts, the assignment of reference numerals is omitted or the same reference numerals are used. Further, for detailed structures, the illustrations are appropriately simplified or omitted.

[0043] [ 0 0 1 6 ]

[0044] <Configuration of a straddle-type vehicle>

[0045] The configuration of the straddle-type vehicle 1 according to an embodiment of the present invention will be described.

[0046] [ 0 0 1 7 ]

[0047] FIG. 1 is a schematic diagram showing a schematic configuration of the straddle-type vehicle 1. The straddle-type vehicle 1 is a two-wheeled motorcycle corresponding to an example of the straddle-type vehicle according to the present invention. As shown in FIG. 1, the straddle-type vehicle 1 includes a body 2, a front wheel 3, a rear wheel 4, a handle 5, an engine 11, a hydraulic control unit 12, a display device 13, a surrounding environment sensor 14, a front wheel speed sensor 15, a rear wheel speed sensor 16, and a control device (ECU) 20.

[0048] [ 0 0 1 8 ]

[0049] The engine 11 corresponds to an example of a drive source of the straddle-type vehicle 1 and is capable of outputting power for driving a drive wheel (specifically, the rear wheel 4). For example, the engine 11 is provided with one or a plurality of cylinders in which a combustion chamber is formed, a fuel injection valve for injecting fuel toward the combustion chamber, and a spark plug. By injecting fuel from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chamber, and the air-fuel mixture is ignited and burned by the spark plug. As a result, a piston provided in the cylinder reciprocates, and the crankshaft rotates. Further, a throttle valve is provided in the intake pipe of the engine 11, and the intake amount into the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve.

[0050] [ 0 0 1 9 ]

[0051] The hydraulic control unit 1 2 is a unit responsible for controlling the braking force generated on the wheels. For example, the hydraulic control unit 1 2 is installed on the oil passage connecting the master cylinder and the wheel cylinder and includes components (e.g., a control valve and a pump) for controlling the brake fluid pressure of the wheel cylinder. The braking force generated on the wheels is controlled by controlling the operation of the components of the hydraulic control unit 1 2. The hydraulic control unit 1 2 may control the braking force generated on both the front wheel 3 and the rear wheel 4, or it may control the braking force generated on only one of the front wheel 3 or the rear wheel 4.

[0052] [ 0 0 2 0 ]

[0053] The display device 13 has a display function that visually displays information to the rider. Examples of the display device 13 include a liquid crystal display. The display device 13 is, for example, installed in front of the handlebars 5 in a saddle-type vehicle 1. However, the placement of the display device 13 on the vehicle body is not particularly limited.

[0054] [ 0 0 2 1 ]

[0055] The ambient environment sensor 14 detects ambient environment information regarding the environment surrounding the saddle-type vehicle 1. Specifically, the ambient environment sensor 14 is located at the front of the saddle-type vehicle 1 and detects ambient environment information in front of the saddle-type vehicle 1. The ambient environment information detected by the ambient environment sensor 14 is output to the control device 20. [0 0 2 2]

[0056] The ambient environment information detected by the ambient environment sensor 14 may be information related to the distance or direction to the subject located around the saddle-type vehicle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be the characteristics of the subject located around the saddle-type vehicle 1 (e.g., type of subject, shape of the subject itself, marks attached to the subject, etc.). The ambient environment sensor 14 is, for example, a radar, Lidar sensor, ultrasonic sensor, camera, etc.

[0057] [ 0 0 2 3 ]

[0058] Furthermore, ambient environmental information can also be detected by ambient environmental sensors mounted on other vehicles or by infrastructure equipment. In other words, the control device 20 can also acquire ambient environmental information via wireless communication with other vehicles or infrastructure equipment.

[0059] [ 0 0 2 4 ]

[0060] The front wheel speed sensor 15 is a wheel speed sensor that detects the wheel speed of the front wheel 3 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the front wheel 3, etc.) and outputs the detection result. The front wheel speed sensor 15 may also detect other physical quantities that can be substantially converted to the wheel speed of the front wheel 3. The front wheel speed sensor 15 is installed on the front wheel 3.

[0061] [ 0 0 2 5 ]

[0062] The rear wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the rear wheel 4 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the rear wheel 4, etc.) and outputs the detection result. The rear wheel speed sensor 16 may also detect other physical quantities that can be substantially converted to the wheel speed of the rear wheel 4. The rear wheel speed sensor 16 is installed on the rear wheel 4.

[0063] [ 0 0 2 6 ]

[0064] The control device 20 controls the behavior of the saddle-type vehicle 1. For example, part or all of the control device 20 is composed of a microcontroller, microprocessor unit, etc. Also, for example, part or all of the control device 20 may be composed of updatable components such as firmware, or a program module executed by commands from a CPU, etc. The control device 20 may be a single unit or may be divided into multiple units. Details of the functions of the control device 20 will be described later.

[0065] [ 0 0 2 7 ]

[0066] Figure 2 is a schematic diagram showing the general configuration of the handle 5 and its surroundings. Specifically, Figure 2 is a view of the upper front part of the body 2 of the saddle-type vehicle 1, viewed from vertically above.

[0067] [ 0 0 2 8 ]

[0068] As shown in Figure 2, the handlebar 5 includes a right grip 5R and a left grip 5L. The handlebar 5 extends in the width direction of the vehicle. The right grip 5R is formed at the right end of the handlebar 5 and is gripped by the rider's right hand while riding. The left grip 5L is formed at the left end of the handlebar 5 and is gripped by the rider's left hand while riding.

[0069] [ 0 0 2 9 ]

[0070] The right grip 5R corresponds to the accelerator grip, which is the operating part used by the rider to operate the accelerator (i.e., to accelerate the saddle-type vehicle 1). Hereafter, the right grip 5R will also be referred to as the accelerator grip 5R. The accelerator grip 5R is roughly cylindrical or cylindrical in shape and is rotatable about its central axis. The rider can rotate the accelerator grip 5R with their right hand. The operation of rotating the accelerator grip 5R corresponds to accelerator operation.

[0071] [ 0 0 3 0 ]

[0072] Near the accelerator grip 5 R, there is a brake lever 6, which is an operating part used by the rider for braking (i.e., for decelerating the saddle-type vehicle 1). The rider can grip the accelerator grip 5 R with their right hand and also grip the brake lever 6. The operation of gripping the brake lever 6 corresponds to braking. [0 0 3 1]

[0073] Furthermore, a group of switches 7, which includes multiple switches, is provided near the accelerator grip 5R. For example, the group of switches 7 is located at the left end of the accelerator grip 5R. The group of switches 7 includes a main switch 7M, a resume switch 7R, and a set switch 7S. For example, these switches are arranged from front to back in the order of resume switch 7R, main switch 7M, and set switch 7S. Note that the relative positions of these switches are not limited to this example. The resume switch 7R is marked with the characters, for example, r RES / + J. The set switch 7S is marked with the characters, for example, "SET / -". The main switch 7M, resume switch 7R, and set switch 7S are used in operations related to the control modes in which the adaptive cruise control is performed, which will be described later. While the rider holds the throttle grip 5 R with their right hand, they can also operate (for example, press) each of the switches in the switch group 7. Details of each switch will be described later.

[0074] [ 0 0 3 2 ]

[0075] Figure 3 is a schematic diagram showing the general configuration of the accelerator grip 5R. Specifically, Figure 3 is a view of the accelerator grip 5R in the direction of arrow X in Figure 2 (i.e., a view from the right side of the vehicle along the axial direction of the accelerator grip 5R).

[0076] [ 0 0 3 3 ]

[0077] As described above, the accelerator grip 5R is substantially cylindrical or cylindrical in shape and is rotatable about the central axis C of the accelerator grip 5R shown in Figure 3. The accelerator grip 5R includes a structure that returns the reference part P0 to a reference angle A0 in a reference state where there is no operation by the rider (i.e., a state where there is no load input to the accelerator grip 5R from the outside). The reference part P0 refers to a predetermined part of the accelerator grip 5R that is radially separated from the central axis C (in the example of Figure 3, a part of the outer circumference of the accelerator grip 5R). As described above, the reference part P0 of the accelerator grip 5R is located at a reference angle A0 in a reference state where there is no operation by the rider. Note that the above structure can be realized, for example, by utilizing a restoring force such as a spring.

[0078] [ 0 0 3 4 ]

[0079] When the accelerator grip 5R is rotated in the first state, where the reference part P 〇 is located in the first angular range 〇 1, which is in the first direction D 1 (counterclockwise when viewed from the right side of the saddle-type vehicle 1) relative to the reference angle A 0, the driving force generated in the saddle-type vehicle 1 changes. Specifically, when the reference part P 0 is located at the reference angle A 0, the driving force is minimized or no driving force is generated. The rider can then increase the driving force generated in the saddle-type vehicle 1, or generate driving force in the saddle-type vehicle 1, by rotating the accelerator grip 5R from the reference state to the first direction D 1. The driving force generated in the saddle-type vehicle 1 increases as the rotation angle of the reference part P 0 relative to the reference angle A 0 increases. In other words, when the accelerator grip 5R is rotated in the first state where the reference part P〇 is located in the first angular range 61, which is in the first direction D1 with respect to the reference angle A0, the driving force increases when the accelerator grip 5R is rotated in the first direction D1, and decreases when the accelerator grip 5R is rotated in the second direction D2 (clockwise when viewed from the right side of the saddle-type vehicle 1), which is the opposite direction to the first direction D1.

[0080] [ 0 0 3 5 ]

[0081] Furthermore, the accelerator grip 5R is rotatable so that the reference part P〇 is located in the second angular range e2, which is in the second direction D2 with respect to the reference angle A0. Even if the accelerator grip 5R is rotated in the second state where the reference part P〇 is located in the second angular range 62, which is in the second direction D2 with respect to the reference angle A〇, the driving force generated in the saddle-type vehicle 1 does not change, or no driving force is generated in the saddle-type vehicle 1. Note that the first angular range 61 and the second angular range 2 do not overlap with each other in the circumferential direction of the central axis c.

[0082] [ 0 0 3 6 ]

[0083] As described above, the rider can rotate the accelerator grip 5R from the base state (i.e., the base part P0 is located at the base angle A〇) to the second state (i.e., the base part P〇 is located in the second angle range 92). Hereafter, the operation of rotating the accelerator grip 5R from the base state to the second state will also be referred to as the rotation operation. In this embodiment, as will be described later, the operability of the saddle-type vehicle 1 is improved by utilizing this rotation operation. Information regarding the rider's operation using the accelerator grip 5R (for example, information on the position of the base part P0 of the accelerator grip 5R) is output from the accelerator grip 5R to the control device 20.

[0084] [ 0 0 3 7 ]

[0085] Figure 4 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 4, the control device 20 includes, for example, an acquisition unit 21, an execution unit 22, and a setting unit 23. The control device 20 also communicates with each device of the saddle-type vehicle 1.

[0086] [ 0 0 3 8 ]

[0087] The acquisition unit 21 acquires information from each device of the saddle-type vehicle 1. For example, the acquisition unit 21 acquires information from the accelerator grip 5R, main switch 7M, resume switch 7R, set switch 7S, ambient environment sensor 14, front wheel speed sensor 15, and rear wheel speed sensor 16. In this specification, information acquisition may include information extraction or generation (e.g., calculation).

[0088] [ 0 0 3 9 ]

[0089] The execution unit 22 performs various controls by controlling the operation of each device of the saddle-type vehicle 1. For example, the execution unit 22 controls the operation of the engine 11, the hydraulic control unit 12, and the display device 13.

[0090] [ 0 0 4 0 ]

[0091] Here, the execution unit 22 can execute a control mode in which a speed adjustment operation is performed. The speed adjustment operation is an operation to adjust the speed of the saddle-type vehicle 1 to a set speed.

[0092] [ 0 0 4 1 ]

[0093] One example of a control mode in which speed adjustment is performed is a control mode in which cruise control is performed. In cruise control, the execution unit 22 controls the speed of the saddle-type vehicle 1 to approach the set speed. Specifically, in cruise control, the execution unit 22 decelerates the saddle-type vehicle 1 if its speed is higher than the set speed, and accelerates the saddle-type vehicle 1 if its speed is lower than the set speed. For example, the execution unit 22 can control the speed of the saddle-type vehicle 1 as described above based on speed information of the saddle-type vehicle 1 obtained based on the wheel speed of the front wheels 3 and the wheel speed of the rear wheels 4. The speed information may be information that directly indicates the speed of the saddle-type vehicle 1, or it may be information that can be substantially converted to the speed of the saddle-type vehicle 1.

[0094] [ 0 0 4 2 ]

[0095] Furthermore, an example of a control mode in which speed adjustment operations are performed is a control mode in which adaptive cruise control is performed. In adaptive cruise control, the execution unit 22 not only controls the speed of the saddle-type vehicle 1 to approach the set speed, but can also control the speed of the saddle-type vehicle 1 so that the positional relationship between the saddle-type vehicle 1 and the target vehicle traveling ahead of it is adjusted to the target positional relationship. In other words, in adaptive cruise control, in addition to speed adjustment operations, the execution unit 22 performs a positional relationship adjustment operation to adjust the positional relationship between the saddle-type vehicle 1 and the target vehicle to the target positional relationship.

[0096] [ 0 0 4 3 ]

[0097] For example, if a preceding vehicle traveling ahead of the saddle-type vehicle 1 is detected by the surrounding environment sensor 14, and this preceding vehicle is set as the target vehicle for which the positional relationship is to be adjusted, the execution unit 22 controls the speed of the saddle-type vehicle 1 so that the positional relationship between the saddle-type vehicle 1 and the preceding vehicle (i.e., the target vehicle) is adjusted to the target positional relationship. On the other hand, if there is no preceding vehicle in front of the saddle-type vehicle 1 and within a predetermined range relative to the saddle-type vehicle 1, and the preceding vehicle is not detected by the surrounding environment sensor 14, the execution unit 22 controls the speed of the saddle-type vehicle 1 to approach the set speed.

[0098] When adjusting the positional relationship between the saddle-type vehicle 1 and the target vehicle to the target positional relationship, for example, the execution unit 22 controls the speed of the saddle-type vehicle 1 so that the time difference between the saddle-type vehicle 1 and the target vehicle (specifically, the time it takes for the saddle-type vehicle 1 to pass the target vehicle's current position from the present moment) is maintained at the target time difference. However, the execution unit 22 may also control the speed of the saddle-type vehicle 1 so that the distance between the saddle-type vehicle 1 and the target vehicle is maintained at the target distance. The positional relationship in which the above time difference becomes the target time difference, or the positional relationship in which the above distance becomes the target distance, corresponds to the target positional relationship. Note that the above target time difference or target distance may change according to the amount of accelerator operation by the rider.

[0099] [ 0 0 4 5 ]

[0100] The following describes a control mode in which adaptive cruise control is implemented as an example of a control mode in which speed adjustment is performed. However, the control mode in which speed adjustment is performed may be a control mode other than the one in which adaptive cruise control is implemented (for example, the control mode in which cruise control is implemented as described above).

[0101] [ 0 0 4 6 ]

[0102] The setting units 2 and 3 determine the set speed for the speed adjustment operation described above, in response to the operation performed by the rider of the saddle-type vehicle 1. Details of the process by which the setting units 2 and 3 determine the set speed will be described later.

[0103] [ 0 0 4 7 ]

[0104] Control device operation>

[0105] The operation of control device 2〇 according to an embodiment of the present invention will be described.

[0106] [ 0 0 4 8 ]

[0107] As described above, the execution unit 22 of the control device 20 can perform adaptive cruise control. Specifically, the execution unit 22 performs a control mode in which adaptive cruise control is performed in response to the operation by the RID. And in such a control mode, the execution unit 22 can perform adaptive cruise control.

[0108] [ 0 0 4 9 ]

[0109] Figure 5 is a diagram illustrating the various states of the control mode. As shown in Figure 5, the control mode can be switched between the off state S T_〇 FF and the on state S T_ON. The off state S T_〇 FF corresponds to the state where the control mode is not running. The on state S T_〇 N corresponds to the state where the control mode is running.

[0110] [ 0 0 5 0 ]

[0111] When the power to the saddle-type vehicle 1 is turned on, the control mode is set to the off state S T_〇 FF. The rider can switch the control mode between the off state S T_〇 FF and the on state S T_ON by operating the main switch 7 M, one of the switch group 7 shown in Figure 2. For example, if the control mode is in the off state S T_〇 FF, and the rider operates the main switch 7 M, the control mode will switch from the off state S T_〇 FF to the on state S T_ON. On the other hand, if the control mode is in the on state S T_ON, and the rider operates the main switch 7 M, the control mode will switch from the on state S T_ON to the off state S T_〇 FF.

[0112] [ 0 0 5 1 ]

[0113] As shown in Figure 5, the ON state S T_ON includes the standby state S T_STB and the active state S T_ACT. In other words, in the ON state S T_ON, the control mode is switched between the standby state S T_STB and the active state S T_ACT. The standby state S T_STB corresponds to a state where adaptive cruise control is not running, but can be immediately activated by a switch operation. The active state S T_ACT basically corresponds to a state where adaptive cruise control is running.

[0114] [ 0 0 5 2 ]

[0115] When the control mode switches from the off state S T_〇 FF to the on state S T_ON, the control mode enters the standby state S T_ STB. For example, when the control mode is in the standby state S T_ STB and the adaptive cruise control setting speed is pre-set, the rider can switch the control mode from the standby state S T_ STB to the active state S T_ACT by operating the resume switch 7R among the switch group 7 shown in Figure 2. When the control mode is in the standby state S T_ STB and the adaptive cruise control setting speed is not set, the rider can set the setting speed to the current speed of the saddle-type vehicle 1 by operating the set switch 7S among the switch group 7 shown in Figure 2, and then switch the control mode from the standby state S T_ STB to the active state S T_ACT. On the other hand, if the rider performs a specific operation such as braking while the control mode is in the active state (ST_A CT), the control mode switches from the active state (ST_A CT) to the standby state (ST_STB).

[0116] [ 0 0 5 3 ]

[0117] As described above, the rider can transition between control modes by operating the main switch 7M, resume switch 7R, and set switch 7S. In addition to the functions described above, the resume switch 7R and set switch 7S also have the function of adjusting the set speed of the adaptive cruise control. Specifically, the setting unit 23 determines the set speed in response to the rider's switch operation using the resume switch 7R and set switch 7S when the control mode is in the active state S T_A CT. In other words, the rider can adjust the set speed of the adaptive cruise control by operating the resume switch 7R and set switch 7S when the control mode is in the active state S T_A CT.

[0118] [ 0 0 5 4 ]

[0119] When the Rider operates the resume switch 7R, the setting unit 23 increases the set speed from its current value. On the other hand, when the Rider operates the set switch 7S, the setting unit 23 decreases the set speed from its current value. In other words, while the speed of the saddle-type vehicle 1 is controlled by adaptive cruise control, the Rider can increase the set speed from its current value by operating the resume switch 7R, and decrease the set speed from its current value by operating the set switch 7S.

[0120] [ 0 0 5 5 ]

[0121] For example, when using the resume switch 7R to increase the set speed from its current value, each press of the resume switch 7R increases the set speed by a predetermined amount from its current value. Similarly, when using the set switch 7S to decrease the set speed from its current value, each press of the set switch 7S decreases the set speed by a predetermined amount from its current value.

[0122] [ 0 0 5 6 ]

[0123] In the saddle-type vehicle 1, compared to four-wheeled automobiles, the rider needs to frequently check the area in front of them while operating the vehicle. Furthermore, the switches and other operating parts (specifically, the resume switch 7R and the set switch 7S) are small, and because the rider is wearing gloves, it is difficult to recognize the switches and other operating parts by touch. As a result, adjusting the set speed during speed adjustment can be difficult. This can be a factor that reduces the operability of the saddle-type vehicle 1.

[0124] [ 0 0 5 7 ]

[0125] Therefore, in this embodiment, the setting unit 23 performs a set speed adjustment operation in control mode, adjusting the set speed based on rotation operation information, which is information related to the rotation operation described above (i.e., the operation of rotating the accelerator grip 5R from the reference state to the second state). This improves the operability of the saddle-type vehicle 1, as will be described later. Below, a first example and a second example of the processing related to the set speed adjustment operation performed by the control device 20 will be described in order.

[0126] [ 0 0 5 8 ]

[0127] Figure 6 is a flowchart showing a first example of the processing flow performed by the control device 20. The control flow shown in Figure 6 starts, for example, when the control mode is switched from the standby state ST_STB to the active state ST_ACT, and ends when the control mode is switched from the active state ST_ACT to the standby state ST_STB. Step S101 in Figure 6 corresponds to the start of the control flow shown in Figure 6.

[0128] [ 0 0 5 9 ]

[0129] When the control flow shown in Figure 6 begins, in step S1-S2, the setting unit 23 determines whether the speed of the saddle-type vehicle 1 is lower than the set speed.

[0130] [ 0 0 6 0 ]

[0131] In step S102, the setting unit 23 acquires speed information of the saddle-type vehicle 1 based on, for example, the wheel speed of the front wheel 3 and the wheel speed of the rear wheel 4, and can determine whether the speed of the saddle-type vehicle 1 is lower than the set speed based on the speed information. As mentioned above, the speed information may be information that directly indicates the speed of the saddle-type vehicle 1, or it may be information that can be substantially converted to the speed of the saddle-type vehicle 1.

[0132] [ 0 0 6 1 ]

[0133] As described above, adaptive cruise control may perform a positional relationship adjustment operation to adjust the positional relationship between the saddle-type vehicle 1 and the target vehicle to the target positional relationship. As a result of this positional relationship adjustment operation, a situation may occur where the speed of the saddle-type vehicle 1 becomes lower than the set speed in response to changes in the speed of the target vehicle.

[0134] [ 0 0 6 2 ]

[0135] If the speed of the saddle-type vehicle 1 is not determined to be lower than the set speed (step S1 ○ 2 / NO), step S! ○ 2 is repeated. On the other hand, if the speed of the saddle-type vehicle 1 is determined to be lower than the set speed (step S! ○ 2 / YES), proceed to step S1 0 3.

[0136] [ 0 0 6 3 ]

[0137] If the result in step S1 ○ 2 is YES, then in step S1 ○ 3, the setting unit 2 3 determines whether or not a rotation operation has been performed.

[0138] [ 0 0 6 4 ]

[0139] In step S! 3, the setting unit 23 determines whether or not a rotation operation has been performed based on the rotation operation information, which is information related to the rotation operation.

[0140] [ 0 0 6 5 ]

[0141] The rotation operation information includes various information related to the rotation operation, for example, information on the position of the reference part p〇 of the accelerator grip 5R. Such information includes, for example, information indicating that the accelerator grip 5R changed from the reference state to the second state as a rotation operation was performed, information indicating that the rotation operation is continuing and the accelerator grip 5R is maintained in the second state, and information indicating that the accelerator grip 5R returned from the second state to the reference state as the rotation operation was released. For example, the setting unit 23 can acquire rotation operation information based on information output from the accelerator grip 5R (specifically, information related to the operation by the rider using the accelerator grip 5R). Note that the rotation operation information may also include operation amount information, which is information on the amount of rotation operation.

[0142] [ 0 0 6 6 ]

[0143] If it is determined that a rotation operation was performed (Step S ! ○ 3 / NO), return to Step S 1 ○ 2. On the other hand, if it is determined that a rotation operation was performed (Step S ! ○ 3 / YES), proceed to Step S 1 0 4.

[0144]

[0067] If the result in step S103 is YES, in step S104, the setting unit 23 performs the setting speed adjustment operation.

[0145] [ 0 0 6 8 ]

[0146] The set speed adjustment operation is, for example, an operation to adjust the set speed to the speed of the saddle-type vehicle 1 at the time the rotation operation is performed. In the first example in Figure 6, the set speed adjustment operation is performed when the speed of the saddle-type vehicle 1 is lower than the set speed. Therefore, when the set speed adjustment operation is performed, the set speed decreases. In other words, the set speed adjustment operation is equivalent to an operation that reduces the set speed.

[0147] [ 0 0 6 9 ]

[0148] As described above, in adaptive cruise control, the speed of the saddle-type vehicle 1 may become lower than the set speed due to the positional adjustment operation. In such a situation, the rider may want to maintain the set speed at the current speed of the saddle-type vehicle 1, for example, temporarily. For example, the rider may want to maintain the set speed at the current speed of the saddle-type vehicle 1 depending on the surrounding traffic conditions. In such cases, the rider can adjust the set speed to the speed of the saddle-type vehicle 1 at the time the rotation operation was performed by performing a rotation operation, which then adjusts the set speed to the speed of the saddle-type vehicle 1 at the time the rotation operation was performed.

[0149] [ 0 0 7 0 ]

[0150] Following step S! 4, in step S1 5, the setting unit 23 determines whether the rotation operation has been released and whether the accelerator grip 5R has returned from the second state to the standard state.

[0151] [ 0 0 7 1 ]

[0152] In step S105, the setting unit 23 determines, based on the rotation operation information described above, whether the accelerator grip 5R has returned from the second state to the reference state.

[0153] [ 0 0 7 2 ]

[0154] If it is determined that the accelerator grip 5 R has not returned from the second state to the standard state (Step S105 / NO), return to Step S104. On the other hand, if it is determined that the accelerator grip 5 R has returned from the second state to the standard state (Step S!〇5 / YES), proceed to Step S1〇6.

[0155] [ 0 0 7 3 ]

[0156] If the result in step S1 0 5 is YES, in step S1 0 6, the setting unit 2 3 returns the set speed to the value before the start of the set speed adjustment operation, and returns to step S1 0 2. The set speed value before the start of the set speed adjustment operation is stored, for example, in the memory element of the control device 2 0.

[0157] [ 0 0 7 4 ]

[0158] As explained above, in the first example of Figure 6, after being determined to be YES in step S103, and while being determined to be NO in step S105, the setting unit 23 continuously performs the set speed adjustment operation. In other words, the setting unit 23 performs the set speed adjustment operation if the rotation operation information indicates that a rotation operation is being performed. As a result, while the rotation operation is being performed, the set speed is temporarily maintained at the speed of the saddle-type vehicle 1 at the time the rotation operation was performed.

[0159] [ 0 0 7 5 ]

[0160] Then, if the result in step S105 is YES, the setting unit 23 returns the set speed to the value before the start of the set speed adjustment operation. In other words, if the rotation operation information indicates that the accelerator grip 5R has returned from the second state to the reference state after the rotation operation, the setting unit 23 returns the set speed to the value before the start of the set speed adjustment operation. As a result, when the rotation operation is released, the set speed returns to the value before the start of the set speed adjustment operation.

[0161] [ 0 0 7 6 ]

[0162] As described above, in the first example of Figure 6, the rider can adjust the set speed by a simple rotational operation, thus improving the operability of the speed adjustment operation. Therefore, the operability of the saddle-type vehicle 1 can be improved.

[0163] [0 0 7 7] For example, in situations where the speed of the saddle-type vehicle 1 falls below the set speed, the rider can maintain the speed of the saddle-type vehicle 1 at its current speed by performing a specific operation such as braking, switching the control mode from the active state S T_A CT to the standby state S T_ STB. On the other hand, as in the first example of Figure 6, if the set speed is adjusted by a rotation operation, the control mode can be maintained in the active state S T_A CT, eliminating the need to switch the control mode back from the standby state S T_ STB to the active state S T_A CT. This also improves the operability of the saddle-type vehicle 1.

[0164] [ 0 0 7 8 ]

[0165] Figure 7 is a flowchart showing a second example of the processing flow performed by the control device 20. The control flow shown in Figure 7, like the control flow shown in Figure 6, starts, for example, when the control mode is switched from the standby state ST_STB to the active state ST_ACT, and ends when the control mode is switched from the active state ST_ACT to the standby state ST_STB. Step S201 in Figure 7 corresponds to the start of the control flow shown in Figure 7.

[0166] [ 0 0 7 9 ]

[0167] In the second example in Figure 7, the processing from step S102 to step S!〇5 is the same as in the first example in Figure 6, but the processing when YES is determined in step S1〇5 is different.

[0168] [ 0 0 8 0 ]

[0169] In the second example of Figure 7, if the result in step S105 is YES, the process proceeds to step S2. In step S202, the setting unit 23 determines whether the maintenance conditions are met.

[0170] [ 0 0 8 1 ]

[0171] As described later, if the maintenance conditions are met, the set speed will remain at the value adjusted by the set speed adjustment operation even after the rotation operation is released and the accelerator grip 5 R returns from the second state to the reference state. In other words, the maintenance conditions correspond to the conditions for maintaining the set speed at the value adjusted by the set speed adjustment operation.

[0172] [ 0 0 8 2 ]

[0173] For example, the maintenance condition includes the condition that the rotation operation information indicates that the duration for which the accelerator grip 5R has been in the second state exceeds a reference time. In this case, the rider can maintain the set speed at the value adjusted by the set speed adjustment operation by continuing the rotation operation for a period of time longer than the reference time. The reference time may be set to a length of time that allows the rider to appropriately determine that they intend to maintain the set speed, for example.

[0174] [ 0 0 8 3 ]

[0175] Furthermore, for example, the maintenance condition includes the condition that the rotation operation information indicates that the amount of rotation operation is greater than the reference amount. In this case, the lidar can maintain the set speed at the value adjusted by the set speed adjustment operation by performing a rotation operation with an amount greater than the reference amount. The reference amount may be set, for example, to an amount of operation large enough for the lidar to appropriately determine that it intends to maintain the set speed.

[0176] [ 0 0 8 4 ]

[0177] Furthermore, for example, the maintenance condition includes the condition that the rotation operation information indicates that the number of rotation operations within a reference time (e.g., about 1 second) is greater than the reference number. In this case, the lidar can maintain the set speed at the value adjusted by the set speed adjustment operation by performing more rotation operations than the reference number within the reference time. The reference number can be set to, for example, a number that allows the lidar to appropriately determine that it intends to maintain the set speed.

[0178] [ 0 0 8 5 ]

[0179] Furthermore, for example, the maintenance condition includes the condition that a specific operation was performed by the Rider while the set speed adjustment operation was being performed. In this case, the Rider can maintain the set speed at the value adjusted by the set speed adjustment operation by performing a specific operation while the set speed adjustment operation is being performed. The specific operation may be any operation using any operating part, for example, a switch operation using the set switch 7 S.

[0180] [ 0 0 8 6 ]

[0181] The above describes various examples of maintenance conditions. For example, all of the types of conditions exemplified above may be adopted as maintenance conditions. In this case, the setting unit 2 3 determines that the maintenance conditions are met if at least one of the types of conditions exemplified above is met. However, only some of the types of conditions exemplified above may be adopted. In addition, conditions other than those exemplified above may be adopted as maintenance conditions.

[0182] [ 0 0 8 7 ]

[0183] If it is determined that the maintenance conditions are not met (step S202 / NO), proceed to step S203. In step S203, the setting unit 23 returns the set speed to the value before the start of the set speed adjustment operation and returns to step S102. On the other hand, if it is determined that the maintenance conditions are met (step S202 / YES), proceed to step S204. In step S204, the setting unit 23 determines the set speed to the value adjusted by the set speed adjustment operation and returns to step S102.

[0184] [ 0 0 8 8 ]

[0185] As explained above, in the second example of Figure 7, the setting unit 23 determines the set speed to the value adjusted by the set speed adjustment operation, even after the accelerator grip 5R returns from the second state to the reference state, provided that the maintenance conditions are met. As a result, if the rider intends to maintain the set speed, the set speed can be maintained at the value adjusted by the set speed adjustment operation, even after the rotation operation is released and the accelerator grip 5R returns from the second state to the reference state. Therefore, the operability of the saddle-type vehicle 1 can be further improved.

[0186] [ 0 0 8 9 ]

[0187] The above describes an example of processing performed by the control device 20. However, the processing performed by the control device 20 may be a modified version of the processing example described above.

[0188] [ 0 0 9 0 ]

[0189] For example, the execution unit 22 may perform a notification operation to inform the rider of information used in the process of determining the set speed by the setting unit 23. For example, in the notification operation, the execution unit 22 may use the display device 13 for notification. However, notification in the notification operation may be performed using a device other than the display device 13. For example, the execution unit 22 may use a display device provided on the rider's equipment (e.g., a helmet) for notification. Alternatively, for example, the execution unit 22 may use a sound output device or vibration generating device provided on the saddle-type vehicle 1 or the rider's equipment for notification.

[0190] [ 0 0 9 1 ]

[0191] Figure 8 shows an example of the display during notification operation. As described above, the setting unit 23 determines that the maintenance condition has been met if, for example, the rotation operation continues for a period of time longer than the reference time, and maintains the set speed at the value adjusted by the set speed adjustment operation even after the rotation operation is released and the accelerator grip 5R returns from the second state to the reference state. The display example in Figure 8 corresponds to an example of the display of information regarding the determination of whether or not the maintenance condition has been met in this case.

[0192] [ 0 0 9 2 ]

[0193] In Figure 8, the illuminated areas are indicated by hatching. In the example in Figure 8, at time T1, the set speed is set to 80 km / h, and no rotation operation is performed. Therefore, as shown in Figure 8, at time T1, the outline of the letters "80" is displayed, and the entire letters "80" are illuminated.

[0194] [ 0 0 9 3 ]

[0195] Subsequently, at time T2, as the rotation operation is performed, the set speed is adjusted to 50 km / h, which is the speed of the saddle-type vehicle 1 at the time the rotation operation was performed, through a set speed adjustment operation. Therefore, as shown in Figure 8, at time T2, the outline of the letters "50" is displayed. At this point in time T2, the entire "50" is turned off.

[0196] [ 0 0 9 4 ]

[0197] Then, from time point T2 onward, the rotation operation continues (i.e., the accelerator grip 5R is maintained in the second state). As the duration of the rotation operation (i.e., the duration that the accelerator grip 5R is in the second state) elapses, the illuminated area of ​​the "50" gradually expands. For example, at time point T3, after time point T2, a portion of the lower part of the "50" is illuminated, and at time point T4, after time point T3, most of the "50" is illuminated, except for a portion of the upper part.

[0198] [ 0 0 9 5 ]

[0199] Subsequently, at time T5, the duration of the rotation operation reaches the reference time, and it is determined that the maintenance condition has been met. Then, as shown in Figure 8, at time T5, the entire "50" character lights up. The lidar can recognize that the maintenance condition has been met by confirming that the entire "50" character lights up.

[0200] [ 0 0 9 6 ]

[0201] Note that the display example in Figure 8 is merely one example of a display in a notification operation that informs the rider of information used in the process of determining the set speed by the setting unit 2 3. For example, in the notification operation, information used in the process of maintenance conditions other than the condition that the duration of time that the accelerator grip 5 R has been in the second state has exceeded the reference time may be notified. Also, in the notification operation, information used in processes other than the process of maintenance conditions may be notified.

[0202] [ 0 0 9 7 ]

[0203] Furthermore, for example, the setting unit 2 3 may change the set speed in the set speed adjustment operation based on the operation amount information, which is information about the amount of rotational operation. For example, the setting unit 2 3 may change the degree of adjustment of the set speed in the set speed adjustment operation based on the amount of rotational operation. Specifically, the setting unit 2 3 may increase the degree of adjustment of the set speed in the set speed adjustment operation as the amount of rotational operation increases (for example, the amount of decrease in the set speed due to the set speed adjustment operation may be increased).

[0204] [ 0 0 9 8 ]

[0205] <Effects of the control device>

[0206] The effects of the control device 2〇 according to the embodiment of the present invention will be described.

[0207] [ 0 0 9 9 ]

[0208] The control device 2 includes an execution unit 22 that performs a control mode (in the above example, a control mode in which adaptive cruise control is performed) in which a speed adjustment operation is performed to adjust the speed of the saddle-type vehicle 1 to a set speed, and further includes a setting unit 23 that determines the set speed in accordance with the operation of the rider of the saddle-type vehicle 1. Then, in control mode, the setting unit 23 performs a set speed adjustment operation based on rotation operation information, which is information about the rotation operation performed by the rider to rotate the accelerator grip 5R, which changes the driving force generated in the saddle-type vehicle 1 by rotation in the first state where the reference part P0 is located at a reference angle A0 and the reference part P0 is located in the first angular range 61 located in the first direction D1 relative to the reference angle A0, from the reference state to the second state where the reference part P0 is located in the second angular range e2 located in the second direction D2, which is the opposite direction to the first direction D1 relative to the reference angle A0.As a result, the rider can adjust the set speed by a simple rotation operation, thereby improving the operability of the speed adjustment operation.Therefore, the operability of the saddle-type vehicle 1 can be improved.

[0209] [ 0 1 0 0 ]

[0210] As mentioned above, for example, in situations where the speed of the saddle-type vehicle 1 falls below the set speed, the rider can maintain the speed of the saddle-type vehicle 1 at its current speed by performing a specific operation such as braking, switching the control mode from the active state S T_A CT to the standby state S T_ STB. On the other hand, if the set speed is adjusted by a rotational operation, the control mode can be maintained in the active state S T_A CT, eliminating the need to switch the control mode back from the standby state S T_ STB to the active state S T_A CT. This also improves the operability of the saddle-type vehicle 1.

[0211] [ 0 1 0 1 ]

[0212] Preferably, in the control device 20, in the control mode, in addition to the speed adjustment operation, a positional relationship adjustment operation is performed to adjust the positional relationship between the saddle-type vehicle 1 and a target vehicle traveling ahead of the saddle-type vehicle 1 to the target positional relationship. As described above, in the control mode in which the positional relationship adjustment operation is performed in addition to the speed adjustment operation (in the above example, the control mode in which adaptive cruise control is performed), a situation may arise in which the speed of the saddle-type vehicle 1 becomes lower than the set speed due to the execution of the positional relationship adjustment operation. For example, in such a situation, a situation is likely to arise in which the rider wishes to maintain the set speed at the current speed of the saddle-type vehicle 1. Therefore, in such a control mode, the effect of making it easy to adjust the set speed by the set speed adjustment operation is significantly realized.

[0213] [ 0 1 0 2 ]

[0214] Preferably, in the control device 20, the set speed adjustment operation is an operation to decrease the set speed. This allows the set speed to be adjusted in accordance with the rider's intentions in situations where the rider wants to decrease the set speed (for example, when the speed of the saddle-type vehicle 1 is lower than the set speed, and the rider wants to maintain the set speed at the current speed of the saddle-type vehicle 1).

[0215] [ 0 1 0 3 ]

[0216] Preferably, in the control device 20, the set speed adjustment operation is an operation to adjust the set speed to the speed of the saddle-type vehicle 1 at the time the rotation operation is performed. This allows the set speed to be adjusted in accordance with the rider's intention in situations where the rider wishes to maintain the set speed at the current speed of the saddle-type vehicle 1 (for example, when the speed of the saddle-type vehicle 1 is lower than the set speed and the rider wishes to maintain the set speed at the current speed of the saddle-type vehicle 1).

[0217] [ 0 1 0 4 ]

[0218] Preferably, in the control device 20, the setting unit 23 performs a set speed adjustment operation when the speed of the saddle-type vehicle 1 is lower than the set speed. This allows the set speed to be adjusted in accordance with the rider's intentions in situations where the rider wishes to adjust the set speed (for example, when the speed of the saddle-type vehicle 1 is lower than the set speed and the rider wishes to maintain the set speed at the current speed of the saddle-type vehicle 1).

[0219] [ 0 1 0 5 ]

[0220] Preferably, in the control device 20, the setting unit 23 executes a set speed adjustment operation when the rotation operation information indicates that a rotation operation is being performed. This ensures that the set speed can be adjusted by the set speed adjustment operation through a simple rotation operation.

[0221] [ 0 1 0 6 ]

[0222] Preferably, in the control device 20, if the setting unit 23 indicates that the rotation operation information indicates that the accelerator grip 5R has returned from the second state to the reference state after the rotation operation, it resets the set speed to the value before the start of the set speed adjustment operation. This allows the rider to reset the set speed to the value before the start of the set speed adjustment operation by releasing the rotation operation. In other words, the rider can temporarily adjust the set speed by performing a rotation operation. As a result, the set speed adjustment operation is performed while the accelerator grip 5R is in the second state, allowing the rider to adjust the set speed according to their intentions.

[0223] [ 0 1 0 7 ]

[0224] Preferably, in the control device 20, if the setting unit 23 receives rotational operation information indicating that the duration for which the accelerator grip 5R has been in the second state exceeds the reference time, it determines the set speed to the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. This allows the rider to maintain the set speed at the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state, by focusing on the duration for which the accelerator grip 5R has been in the second state and determining that the rider intends to maintain the set speed. In other words, the set speed can be maintained at the value adjusted by the set speed adjustment operation without having to keep the accelerator grip 5R in the second state. Thus, the operability of the saddle-type vehicle 1 can be further improved.

[0225] [ 0 1 0 8 ]

[0226] Preferably, in the control device 20, if the setting unit 23 indicates that the rotation operation information is greater than the reference operation amount, it determines the set speed to the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. As a result, if it can be determined that the rider intends to maintain the set speed by focusing on the rotation operation amount, the set speed can be maintained at the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. In other words, the set speed can be maintained at the value adjusted by the set speed adjustment operation without having to keep the accelerator grip 5R in the second state. Thus, the operability of the saddle-type vehicle can be further improved.

[0227] [ 0 1 0 9 ]

[0228] Preferably, in the control device 20, if the setting unit 23 indicates that the number of rotation operations within a reference time is greater than the reference number, it determines the set speed to the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. As a result, if it can be determined that the rider intends to maintain the set speed by focusing on the number of rotation operations within a reference time, the set speed can be maintained at the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. In other words, the set speed can be maintained at the value adjusted by the set speed adjustment operation without having to keep the accelerator grip 5R in the second state. Thus, the operability of the saddle-type vehicle 1 can be further improved.

[0229] [ 0 1 1 0 ]

[0230] Preferably, in the control device 20, if a specific operation is performed by the rider during the execution of the set speed adjustment operation, the setting unit 23 determines the set speed to the value adjusted by the set speed adjustment operation, even after the accelerator grip 5R returns from the second state to the reference state. By focusing on whether or not a specific operation has been performed by the rider, if it can be determined that the rider intends to maintain the set speed, the set speed can be maintained at the value adjusted by the set speed adjustment operation even after the accelerator grip 5R returns from the second state to the reference state. In other words, the set speed can be maintained at the value adjusted by the set speed adjustment operation without having to keep the accelerator grip 5R in the second state. Thus, the operability of the saddle-type vehicle 1 can be further improved.

[0231] [ 0 1 1 1 ]

[0232] Preferably, in the control device 20, the execution unit 22 performs a notification operation to notify the LiDAR of information used in the process of determining the set speed by the setting unit 23. As a result, the LiDAR can operate the vehicle after understanding the information used in the process of determining the set speed by the setting unit 23.

[0233] [ 0 1 1 2 ]

[0234] Preferably, in the control device 20, the rotation operation information includes operation amount information, which is information about the amount of rotation operation, and the setting unit 23 changes the set speed based on the operation amount information during the set speed adjustment operation. This makes it possible to change the set speed more precisely according to the amount of rotation operation.

[0235] [ 0 1 1 3 ]

[0236] The present invention is not limited to the descriptions of embodiments. For example, only a portion of the embodiments may be implemented.

[0237] [Explanation of symbols] [〇 1 1 4]

[0238] 1 Saddle-type vehicle, 2 Body, 3 Front wheel, 4 Rear wheel, 5 Handlebars, 5 L Left grip, 5 R Right grip (accelerator grip), 6 Brake lever, 7 Switch group, 7 M Main switch, 7 R Resume switch, 7 S Set switch, 1 1 Engine, 1 2 Hydraulic control unit, 1 3 Display device, 1 4 Ambient environment sensor, 1 5 Front wheel speed sensor, 1 6 Rear wheel speed sensor, 2 0 Control device, 2 1 Acquisition unit, 2 2 Execution unit, 2 3 Setting unit, A ○ Reference angle, C Central axis, D 1 First direction, D 2 Second direction, P ○ Reference unit, ST _A CT Active state, ST _○ FF Off state, ST _ON On state, ST _STB Standby state, T Time point 1, T2, T3, T4, T5, 61 first angle range, 62 second angle range.

Claims

[Document Name] Scope of Claim

1. A control device (20) for controlling the behavior of a saddle-type vehicle (1), The system includes an execution unit (22) that performs a control mode in which a speed adjustment operation is performed to adjust the speed of the saddle-type vehicle (1) to a set speed, Furthermore, the system includes a setting unit (23) that determines the set speed in accordance with the operation of the rider of the saddle-type vehicle (1), The setting unit (23) is a control device that, in the control mode, adjusts the set speed based on rotation operation information, which is information regarding a rotation operation by the rider, to adjust the set speed. This rotation operation adjusts the set speed based on rotation operation information, which is information regarding a rotation operation by the rider that rotates the accelerator grip (5R), which changes the driving force generated in the saddle-type vehicle (1) by rotation in a first state in which the reference unit (P0) is located in a first angular range (.1) located in a first direction (D1) with respect to the reference angle (AO), from the reference state to a second state in which the reference unit (P〇) is located in a second angular range (.2) located in a second direction (D2) opposite to the first direction (D1) with respect to the reference angle (AO).

2. In the control mode described above, in addition to the speed adjustment operation, a positional relationship adjustment operation is performed to adjust the positional relationship between the saddle-type vehicle (1) and a target vehicle traveling ahead of the saddle-type vehicle (1) to the target positional relationship. The control device according to claim 1.

3. The aforementioned setting speed adjustment operation is an operation that reduces the aforementioned setting speed. The control device according to claim 1.

4. The aforementioned set speed adjustment operation is an operation to adjust the set speed to the speed of the saddle-type vehicle (1) at the time the rotation operation was performed. The control device according to claim 1.

5. The setting unit (23) executes the set speed adjustment operation when the speed of the saddle-type vehicle (1) is lower than the set speed. The control device according to claim 4.

6. The setting unit (23) executes the set speed adjustment operation if the rotation operation information indicates that the rotation operation is being performed. A control device according to any one of claims 1 to 5.

7. The setting unit (23) returns the set speed to the value before the start of the set speed adjustment operation if the rotation operation information indicates that the accelerator grip (5R) returned from the second state to the reference state after the rotation operation. The control device according to claim 6.

8. The setting unit (23) determines the set speed to the value adjusted by the set speed adjustment operation, even after the accelerator grip (5R) returns from the second state to the reference state, if the rotation operation information indicates that the duration of the accelerator grip (5R) being in the second state exceeds the reference time. The control device according to claim 6.

9. The setting unit (23) determines that if the rotation operation information indicates that the amount of rotation operation is greater than the reference amount, the accelerator grip (5R) moves from the second state forward. Even after returning to the reference state, the set speed is determined to the value adjusted by the set speed adjustment operation. The control device according to claim 6. [Claim 1〇] The setting unit (23) determines the set speed to the value adjusted by the set speed adjustment operation, even after the accelerator grip (5R) returns from the second state to the standard state, if the rotation operation information indicates that the number of rotation operations within the standard time is greater than the standard number. The control device according to claim 6. [Claim 1 1] The setting unit (23) determines the set speed to the value adjusted by the set speed adjustment operation, even after the accelerator grip (5R) returns from the second state to the reference state, if a specific operation is performed by the rider during the execution of the set speed adjustment operation. The control device according to claim 6. [Claim 1 2] The execution unit (22) performs a notification operation to notify the rider of information used in the process of determining the set speed by the setting unit (23). A control device according to any one of claims 1 to 5. [Claim 1 3] The rotation operation information includes operation amount information, which is information about the amount of the rotation operation, and the setting unit (23) changes the set speed based on the operation amount information during the set speed adjustment operation. A control device according to any one of claims 1 to 5. [Claim 1 4] A control method for controlling the behavior of a saddle-type vehicle (1), The execution unit (22) of the control device (20) executes a control mode in which a speed adjustment operation is performed to adjust the speed of the saddle-type vehicle (1) to a set speed. Furthermore, the setting unit (23) of the control device (20) determines the set speed in accordance with the operation of the rider of the saddle-type vehicle (1), The setting unit (23) performs a setting speed adjustment operation based on rotation operation information, which is information regarding the rotation operation by the rider, that rotates the accelerator grip (5R), which changes the driving force generated in the saddle-type vehicle (1) by rotation in a first state in which the reference unit (P0) is located at a reference angle (AO) in a first angular range (.1) located in a first direction (D1) with respect to the reference angle (AO), from the reference state to a second state in which the reference unit (P〇) is located in a second angular range (.2) located in a second direction (D2) opposite to the first direction (D1) with respect to the reference angle (AO), in the control mode, where the reference unit (P0) is located at a reference angle (AO) in a reference state in which there is no operation by the rider, and the accelerator grip (5R) which changes the driving force generated in the saddle-type vehicle (1) by rotation in a first state in which the reference unit (P0) is located in a first angular range (.1) located in a second angular range (.2) located in a second direction (D2) opposite to the first direction (D1) with respect to the reference angle (AO), from the reference state to a second state. Control method.

Images