Controller and control method

Abstract

The present invention provides a controller and a control method with which safety can be improved. With this controller (20) and control method, an execution unit of the controller (20) executes a control mode in which a rider assistance operation for assisting a rider is executed, and the execution unit acquires riding posture information of the rider on the basis of output information of a first load sensor (18) provided in a footrest unit (5) provided in a saddled vehicle (1), and controls the control mode on the basis of the riding posture information.

Description

[0001]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004]

.001

[0005]

Background Art

[0006]

.002

[0007]

Prior Art Documents

[0008]

Patent Documents

[0009]

〇003

[0010]

Patent Document 1

[0011]

Summary of the Invention

[0012]

Problems to be Solved by the Invention

[0013]

.004

[0014]

.005

[0015] [Means for solving the problem]

[0016] [0 0 6] The control device according to the present invention is a control device for a rider support system that assists a rider of a saddle-type vehicle, and comprises an execution unit that executes a control mode in which rider support operations are performed to assist the rider, the execution unit acquires information on the rider's riding posture based on output information from a first load sensor provided on a footrest provided on the saddle-type vehicle, and controls the control mode based on the riding posture information.

[0017] [0 0 7] The control method according to the present invention is a control method for a rider support system that assists a rider of a saddle-type vehicle, wherein the execution unit of a control device executes a control mode in which rider support operations are performed to assist the rider, the execution unit acquires information on the rider's riding posture based on output information from a first load sensor provided on a footrest provided on the saddle-type vehicle, and controls the control mode based on the riding posture information.

[0018] [Effects of the Invention]

[0019] [〇 0 0 8] 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 rider support operations are performed to assist the rider, and the execution unit acquires information on the rider's riding posture based on the output information of a first load sensor provided on the footrest of a saddle-type vehicle, and controls the control mode based on the riding posture information. As a result, the control mode can be controlled after appropriately understanding the rider's riding posture. Therefore, safety can be improved.

[0020] [Brief explanation of the drawing]

[0021]

〇 0 0 9

[0022] [Figure 1] A schematic diagram showing the general configuration of a saddle-type vehicle according to an embodiment of the present invention. [Figure 2] A block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0023] [Figure 3] This flowchart shows an example of the processing flow performed by the control device according to an embodiment of the present invention.

[0024] [Figure 4] This figure shows an example of a first posture of the rider according to an embodiment of the present invention.

[0025] [Figure 5] This figure shows an example of a second posture of the rider according to an embodiment of the present invention.

[0026] [Figure 6] This figure shows an example of a third posture of the rider according to an embodiment of the present invention.

[0027] [Figure 7] This figure shows an example of a third posture of the lidar according to an embodiment of the present invention, different from that shown in Figure 5.

[0028] [Figure 8] A flowchart showing an example of the flow of additional processing performed by the control device according to an embodiment of the present invention.

[0029] [Modes for Carrying Out the Invention]

[0030] [ 0 0 1 0 ] The control device and control method according to the present invention will be described below with reference to the drawings.

[0031] [0 0 1 1] In the following, a control device used for two-wheeled motorcycles is described (see saddle-type vehicle 1 in Figure 1), but the vehicle controlled by the control device according to the present invention may be other saddle-type vehicles other than two-wheeled motorcycles. A saddle-type vehicle means a vehicle on which a rider straddles and rides. Saddle-type vehicles include, for example, motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, buggies, etc. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Motorcycles include, for example, motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the pedaling force applied by the rider. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0032] [0 0 1 2] Furthermore, the following description explains the case in which an engine (specifically, engine 11 in Figure 1 described later) is installed as a drive source capable of outputting power to drive the drive wheels, but other drive sources other than an engine (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed.

[0033] [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 on 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 on the wheel.

[0034] [0 0 1 4] Furthermore, the configurations and operations described below are examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

[0035] [0 0 1 5] In addition, similar or identical explanations have been simplified or omitted as appropriate below. Also, in each figure, identical or similar members or parts have either had their reference numerals omitted or have been given the same reference numeral. Furthermore, detailed structures have been simplified or omitted as appropriate in the illustrations.

[0036] [ 0 0 1 6 ]

[0037] <Configuration of the saddle-type vehicle> The configuration of the saddle-type vehicle 1 according to an embodiment of the present invention will be described below.

[0038] [0 0 1 7] Figure 1 is a schematic diagram showing the general configuration of the saddle-type vehicle 1. The saddle-type vehicle 1 is a two-wheeled motorcycle corresponding to an example of the saddle-type vehicle according to the present invention, and comprises a front wheel 2, a rear wheel 3, a seat 4, and a footrest 5. The seat 4 is the part on which the rider of the saddle-type vehicle 1 sits, and is located on the upper part of the body of the saddle-type vehicle 1. The footrest 5 is the part on which the rider's feet rest. The footrest 5 includes a footrest 5L provided on the left side of the lower part of the body of the saddle-type vehicle 1, and a footrest 5R provided on the right side of the lower part of the body of the saddle-type vehicle 1. The footrest portion 5 may be, for example, a rod-shaped member (e.g., a peg) extending in the left-right direction of the vehicle, or it may be a flat plate-shaped member.

[0039] [0 0 1 8] Also, as shown in Figure 1, the saddle-type vehicle 1 includes an engine 11, a hydraulic control unit 12, a display device 13, a front surrounding environment sensor 14, a rear surrounding environment sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, a first load sensor 18, a second load sensor 19, and a control unit (ECU) 20.

[0040] [0 0 1 9] The saddle-type vehicle 1 is equipped with a rider support system 1 to assist the rider of the saddle-type vehicle 1. The rider support system 100 includes the above components (specifically, an engine 11, a hydraulic control unit 12, a display device 13, a front surrounding environment sensor 14, a rear surrounding environment sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, a first load sensor 18, a second load sensor 19, and a control device 20).

[0041] [ 0 0 2 0 ] Engine 11 is an example of a power source for a saddle-type vehicle 1 and is capable of outputting power to drive the drive wheels (specifically, the rear wheels 3). For example, engine 11 is provided with one or more cylinders in which a combustion chamber is formed, a fuel injector that injects fuel into the combustion chamber, and a spark plug. When fuel is injected from the fuel injector, a mixture of air and fuel is formed in the combustion chamber, and this mixture is ignited by the spark plug and combusted. As a result, a piston provided in the cylinder moves back and forth and the crankshaft rotates. In addition, a throttle valve is provided in the intake manifold of engine 11, and the amount of intake air into the combustion chamber changes according to the throttle opening, which is the opening of the throttle valve.

[0042] [0 0 2 1] The hydraulic control unit 1 2 is a unit that has the function of controlling the braking force generated in 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., control valve and pump) for controlling the brake fluid pressure of the wheel cylinder. The braking force generated in 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 in both the front wheel 2 and the rear wheel 3, or it may control the braking force generated in only one of the front wheel 2 or the rear wheel 3.

[0043] [0 0 2 2] 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 in a saddle-type vehicle 1. However, the arrangement of the display device 13 on the vehicle body is not particularly limited.

[0044]

[0023] Each of the front surrounding environment sensor 14 and the rear surrounding environment sensor 15 detects surrounding environment information regarding the environment around the saddle-ride type vehicle 1. The front surrounding environment sensor 14 is provided at the front part of the saddle-ride type vehicle 1 and detects the surrounding environment information in front of the saddle-ride type vehicle 1. The rear surrounding environment sensor 15 is provided at the rear part of the saddle-ride type vehicle 1 and detects the surrounding environment information behind the saddle-ride type vehicle 1.

[0045]

[0024] The surrounding environment information detected by each surrounding environment sensor may be information related to the distance or orientation to a subject located around the saddle-ride type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be the characteristics of the subject located around the saddle-ride type vehicle 1 (for example, the type of the subject, the shape of the subject itself, the mark attached to the subject, etc.). Each surrounding environment sensor is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, etc.

[0046]

[0025] Note that the surrounding environment information can also be detected by a surrounding environment sensor mounted on another vehicle or by infrastructure facilities. That is, the control device 20 can also acquire the surrounding environment information via wireless communication with another vehicle or infrastructure facilities.

[0047]

[0026] The front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the number of revolutions per unit time [rpm] of the front wheel 2 or the moving distance per unit time [km / h], etc.) and outputs the detection result. The front wheel speed sensor 16 may detect another physical quantity that can be substantially converted into the wheel speed of the front wheel 2. The front wheel speed sensor 16 is provided on the front wheel 2.

[0048]

[0027] The rear-wheel wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the number of revolutions per unit time [rpm] of the rear wheel 3 or the moving distance per unit time [km / h], etc.), and outputs the detection result. The rear-wheel wheel speed sensor 17 may detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel 3. The rear-wheel wheel speed sensor 17 is provided on the rear wheel 3.

[0049]

[0028] The first load sensor 18 is a load sensor provided on the footrest portion 5. As the first load sensor 18, various sensors capable of detecting the presence or absence of a load and the magnitude of the load can be used. Specifically, the first load sensor 18 includes a first load sensor 18L provided on the footrest portion 5L and a first load sensor 18R provided on the footrest portion 5R. Each first load sensor 18 detects the load at the installation position. That is, the first load sensor 18L detects the load acting on the footrest portion 5L, and the first load sensor 18R detects the load acting on the footrest portion 5R.

[0050]

[0029] The second load sensor 19 is a load sensor provided on the seat 4. As the second load sensor 19, various sensors capable of detecting the presence or absence of a load and the magnitude of the load can be used. The second load sensor 19 detects the load at the installation position. That is, the second load sensor 19 detects the load acting on the seat 4.

[0051] [0 0 3 0] The control device 20 controls the operation of the LiDAR assistance system 10. 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 firmware, etc., or a program module executed by commands from a CPU, etc. The control device 20 may be, for example, one unit, or it may be divided into multiple units.

[0052] [0 0 3 1] Figure 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 2, the control device 20 comprises, for example, an acquisition unit 2, an execution unit 2, and a storage unit 2. The control device 20 communicates with each device of the saddle-type vehicle 1 (for example, the engine 1, the hydraulic control unit 1, the display device 1, the front ambient environment sensor 1, the rear ambient environment sensor 1, the front wheel speed sensor 1, the rear wheel speed sensor 1, the first load sensor 1, and the second load sensor 1). The control device 20 can also control the operation of each device of the saddle-type vehicle 1 (for example, the engine 1, the hydraulic control unit 1, and the display device 1).

[0053] [0 0 3 2] The acquisition unit 2 1 acquires information from each device of the saddle-type vehicle 1 and outputs it to the execution unit 2 2. For example, the acquisition unit 2 1 acquires information from the front surrounding environment sensor 1 4, the rear surrounding environment sensor 1 5, the front wheel speed sensor 1 6, the rear wheel speed sensor 1 7, the first load sensor 1 8, and the second load sensor 1 9. In this specification, information acquisition may include information extraction or generation (e.g., calculation).

[0054] [0 0 3 3] The execution unit 22 can execute a control mode in which rider support operations are performed to assist the rider. In other words, the execution unit 22 performs rider support operations in the above control mode. The execution unit 22 can perform various rider support operations by controlling the operation of the engine 11, the hydraulic control unit 12, and the display device 13, for example. Examples of rider support operations include a speed adjustment operation that automatically adjusts the speed of the saddle-type vehicle 1, a braking operation that automatically generates braking force on the saddle-type vehicle 1, or a braking operation that automatically amplifies the braking force generated on the saddle-type vehicle 1, and a notification operation that notifies the rider. Details of the rider support operations will be described later.

[0055] [0 0 3 4] The above control mode may be executed at all times when the power supply of the saddle-type vehicle 1 is turned on, or it may be executed only when a specific operation is performed by the rider. In other words, the rider may permit or prohibit the above control mode. For example, for some types of rider assistance operations to be performed, the control mode may be executed at all times when the power supply of the saddle-type vehicle 1 is turned on, and for some other types, the control mode may be executed only when a specific operation is performed by the rider.

[0056] [0 0 3 5] The memory unit 2 3 stores various types of information. For example, the memory unit 2 3 stores information used in the processing performed by the execution unit 2 2.

[0057] [0 0 3 6] Operation of the control device > The operation of the control device 2〇 according to the embodiment of the present invention will be described.

[0058] [0 0 3 7] As described above, the execution unit 22 of the control device 20 can execute a control mode in which rider assistance operations are performed to assist the rider. Then, the rider assistance operations assist the rider in driving. Here, in the saddle-type vehicle 1, the vehicle's posture tends to be more unstable compared to four-wheeled automobiles, etc. Furthermore, in the saddle-type vehicle 1, the degree of freedom of the driver's (i.e., rider's) riding posture is greater compared to four-wheeled automobiles, etc., so the rider's own posture is unstable. In step S! 2, the execution unit 22 acquires riding posture information based on the output information of the first load sensor 18. In this specification, the output information of the sensor, etc. may be the output of the sensor, etc. itself, or it may be information extracted from said output.

[0059] [0 0 4 2] As described above, in the saddle-type vehicle 1, the degree of freedom of the rider's (i.e., the rider's) riding posture is greater compared to four-wheeled automobiles, and various riding postures are envisioned for the rider. The execution unit 22 acquires information indicating which of the various riding postures the rider is in as riding posture information.

[0060] [0 0 4 3] Figure 4 shows an example of the first posture of rider 30. As shown in Figure 4, the first posture is a riding posture in which rider 30 is seated on seat 4 and rider 30's feet are on footrest 5. When the saddle-type vehicle 1 is in motion, rider 30's riding posture is basically the first posture. In this case, rider 30's own posture is stable, and safety is ensured even if the behavior of the saddle-type vehicle 1 changes due to rider assistance actions, for example.

[0061] [0 0 4 4] Figure 5 shows an example of the second posture of rider 30. As shown in Figure 5, the second posture is a riding posture in which rider 30 is not sitting on seat 4 and rider 30's feet are on footrest 5. While the saddle-type vehicle 1 is in motion, rider 30's riding posture may be in the second posture. In this case, rider 30's own posture is prone to change and unstable, and for example, if the behavior of the saddle-type vehicle 1 changes due to rider assistance actions, safety may be compromised.

[0062] [0 0 4 5] Here, the execution unit 22 acquires information indicating whether the rider 30's riding posture is one of the first posture or the second posture, as riding posture information. In other words, the riding posture information may include information on the first posture and information on the second posture.

[0063] [0 0 4 6] The execution unit 22 obtains, for example, the total value of the load acting on the left and right footrests 5L and 5R based on the output information of the first load sensor 18. Then, the execution unit 22 obtains information indicating whether the rider 30's riding posture is the first posture or the second posture, based on the total value of the load acting on the left and right footrests 5L and 5R, as riding posture information.

[0064] [0 0 4 7] For example, if the sum of the loads acting on the left and right footrests 5L and 5R is less than the first value, the execution unit 22 acquires information indicating that the rider 30 is in the first position as riding posture information. On the other hand, if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the second value which is greater than the first value, the execution unit 22 acquires information indicating that the rider 30 is in the second position as riding posture information.

[0065] [0 0 4 8] As shown in Figure 5, in the second posture, the entire weight of the rider 30 is supported by the footrests 5. Therefore, the total load acting on the left and right footrests 5L and 5R is approximately the weight of the rider 30 multiplied by the acceleration due to gravity. For example, a predetermined value smaller than the standard value of the weight of a rider 30 multiplied by the acceleration due to gravity is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the second value. However, as will be described later, the second value may be set based on the weight information of the rider 30.

[0066] [0 0 4 9] Note that the weight of Rider 30 is the sum of Rider 30's body weight and Rider 30's equipment (e.g., helmet, etc.).

[0067] [0 0 5 0] As shown in Figure 4, in the first position, the weight of the rider 30 is distributed between the seat 4 and the footrest 5, and only a portion of the rider 30's weight is supported by the footrest 5. Therefore, the total load acting on the left and right footrests 5L and 5R is less than the value obtained by multiplying the rider 30's weight by the acceleration due to gravity. For example, a predetermined value smaller than the second value is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the first value. However, as will be described later, the first value may be set based on the weight information of the rider 30. [0 0 5 1] In the above, an example was described in which the execution unit 22 determines whether the rider 30's riding posture is the first posture or the second posture by comparing the sum of the loads acting on the left and right footrests 5L and 5R with the min value. However, the execution unit 22 may also determine whether the rider 30's riding posture is the first posture or the second posture by comparing the load acting on the left footrest 5L with the min value, and the load acting on the right footrest 5R with the min value, respectively.

[0068] [0 0 5 2] For example, the execution unit 22 may acquire information as riding posture information indicating that the rider 30 is in the first riding posture if the load acting on the left footrest 5L is less than half of the first min value, and the load acting on the right footrest 5R is less than half of the first min value. On the other hand, the execution unit 22 may acquire information as riding posture information indicating that the rider 30 is in the second riding posture if the load acting on the left footrest 5L is greater than half of the second min value, and the load acting on the right footrest 5R is greater than half of the second min value.

[0069] [0 0 5 3] The execution unit 22 may also acquire information as riding posture information indicating that it is unclear whether the riding posture of rider 30 is one of the first posture or the second posture.

[0070] [0 0 5 4] For example, if the output information of the first load sensor 18 is unavailable (for example, if the initialization of the first load sensor 18 is not yet complete), the execution unit 22 may acquire information indicating that it is unclear whether the rider 30 is in the first or second riding position, as riding position information.

[0071] [0 0 5 5] Also, for example, if neither the conditions for determining that rider 30's riding posture is the first posture nor the conditions for determining that rider 30's riding posture is the second posture are met, the execution unit 22 may acquire information indicating that it is unclear whether rider 30's riding posture is the first or second posture as riding posture information. In the above example, for example, if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the first value and less than the second value, the execution unit 22 may acquire information indicating that it is unclear whether rider 30's riding posture is the first or second posture as riding posture information. Note that the above example describes an example where the second value is greater than the first value. However, the second min value may be the same as the first min value.

[0072] [0 0 5 6] The above describes an example in which the execution unit 22 acquires information indicating whether the rider 30's riding posture is one of the first posture or the second posture as riding posture information. However, the execution unit 22 may also acquire information indicating that the rider 30's riding posture is a riding posture other than the first posture or the second posture as riding posture information.

[0073]

[0057] Figure 6 shows an example of the third posture of rider 30. As shown in Figure 6, the third posture is a riding posture in which rider 30's feet are not on the footrest 5. In the example in Figure 6, rider 30 is sitting on the seat 4, but rider 30's feet are not on the footrest 5 and are floating in the air. In this case, rider 30's own posture is easily changed and unstable, and for example, if the behavior of the saddle-type vehicle 1 changes due to rider assistance actions, safety may be compromised.

[0074]

[0058] Figure 7 shows an example of a third posture of rider 30 that differs from that in Figure 5. In the example in Figure 7, rider 30's feet are on the seat 4. In this case, rider 30's own posture is easily changed and unstable, and for example, if the behavior of the saddle-type vehicle 1 changes due to rider assistance actions, safety may be compromised.

[0059] Here, the execution unit 22 may acquire information indicating whether rider 30's riding posture is the first posture, the second posture, or the third posture, as riding posture information. In other words, the riding posture information may include information on the first posture and the second posture, as well as information on the third posture.

[0075] [0 0 6 0] The execution unit 22 acquires information indicating which of the first, second, and third postures the rider 30 is in, based on the sum of the loads acting on the left and right footrests 5L and 5R, as riding posture information.

[0076] [0 0 6 1] For example, if the sum of the loads acting on the left and right footrests 5L and 5R is less than the third value which is less than the first value, the execution unit 22 acquires information indicating that the rider 3〇 is in the third riding position as riding position information. Also, if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the third value which is less than the first value, the execution unit 22 acquires information indicating that the rider 3〇 is in the first riding position as riding position information. Also, if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the second value which is greater than the second value, the execution unit 22 acquires information indicating that the rider 3〇 is in the second riding position as riding position information.

[0077] [0 0 6 2] As shown in Figures 6 and 7, in the third position, the entire weight of the rider 30 is supported by the seat 4. Therefore, the sum of the loads acting on the left and right footrests 5L and 5R is approximately 0. For example, a predetermined value smaller than the first value is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the third value. However, as will be described later, the third value may be set based on the weight information of the rider 30.

[0078] [0 0 6 3] In the above, an example was described in which the execution unit 22 acquires riding posture information based only on the output information of the first load sensor 18, out of the output information of the first load sensor 18 and the output information of the second load sensor 19. However, the execution unit 22 may acquire riding posture information based on the output information of the second load sensor 19 in addition to the output information of the first load sensor 18. By using more information, riding posture information can be acquired with greater accuracy.

[0079]

[0064] The execution unit 22 acquires the load acting on the seat 4 based on the output information of the second load sensor 19, for example. Then, the execution unit 22 acquires information indicating whether the rider 30's riding posture is the first posture, second posture, or third posture, based on the load acting on the seat 4, in addition to the sum of the loads acting on the left and right footrests 5L and 5R.

[0080] [0 0 6 5] For example, if the sum of the loads acting on the left and right footrests 5L and 5R is less than the third value, and the load acting on the seat 4 is greater than the fourth value, the execution unit 22 acquires information indicating that the rider 30 is in the third position as riding position information. Also, if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the third value and less than the first value, and the load acting on the seat 4 is less than the fourth value and greater than the fifth value which is less than the fourth value, the execution unit 22 acquires information indicating that the rider 30 is in the L position as riding position information. Furthermore, the execution unit 22 acquires information as riding posture information indicating that the rider 3〇's riding posture is in the second posture if the sum of the loads acting on the left and right footrests 5L and 5R is greater than the second value, and the load acting on the seat 4 is less than the sixth value, which is less than the fifth value.

[0081] [0 0 6 6] As shown in Figures 6 and 7, in the third position, the entire weight of the rider 30 is supported by the seat 4. Therefore, the load acting on the seat 4 is approximately the weight of the rider 30 multiplied by the acceleration due to gravity. For example, a predetermined value smaller than the standard value of the weight of the rider 30 multiplied by the acceleration due to gravity is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the fourth value. However, as will be described later, the fourth value may be set based on the weight information of the rider 30.

[0082] [0 0 6 7] As shown in Figure 4, in the first position, the weight of the rider 30 is distributed between the seat 4 and the footrest 5, and only a portion of the rider 30's weight is supported by the seat 4. Therefore, the load acting on the seat 4 is less than the value obtained by multiplying the rider 30's weight by the acceleration due to gravity. For example, a predetermined value smaller than the fourth min value is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the fifth min value. However, as will be described later, the fifth min value may be set based on the weight information of the rider 30.

[0083] [0 0 6 8] As shown in Figure 5, in the second position, the entire weight of the rider 30 is supported by the footrest 5. Therefore, the load acting on the seat 4 is approximately zero. For example, a predetermined value smaller than the fifth min value is stored in the memory unit 23 beforehand, and the execution unit 22 uses such a value as the sixth min value. However, as will be described later, the sixth min value may be set based on the weight information of the rider 30.

[0084] [0 0 6 9] The above describes an example in which each Min value is a fixed value set in advance. However, the execution unit 22 may set each of the above Min values ​​based on the weight information of the lidar 30. The weight information is information about the weight of the lidar 30, and may be, for example, information that directly indicates the weight of the lidar 30, or information that can be substantially converted to the weight of the lidar 30. For example, the execution unit 22 may set the above second Min value and fourth Min value to a value smaller than the weight value indicated by the weight information, and set the above first Min value, third Min value, fifth Min value and sixth Min value according to the set values ​​of the second Min value and fourth Min value.

[0085] [0 0 7 0] The execution unit 22 may, for example, acquire weight information based on the information manually set by the rider 30.

[0086] [0 0 7 1] Manual setting information is, for example, information about setting operations performed by rider 30 using the input device of saddle-type vehicle 1. For example, rider 30 can use the input device of saddle-type vehicle 1 to input weight information to control device 20. The execution unit 22 may then acquire weight information based on information about such operations (i.e., manual setting information).

[0087] [0 0 7 2] The execution unit 22 may also acquire weight information based on the output information of the first load sensor 18, for example.

[0088] [0 0 7 3] For example, before the start of driving of the saddle-type vehicle 1, the execution unit 22 causes the display device L3 to display a message prompting the rider 30 to assume the second posture. Then, when the rider 30 is in the second posture, the execution unit 22 obtains the total value of the load acting on the left and right footrests 5L and 5R based on the output information of the first load sensor 18. The execution unit 22 may then consider the obtained total value of the load acting on the left and right footrests 5L and 5R to correspond to the weight of the rider 30 and obtain weight information.

[0089]

[0074] Also, for example, when information indicating that rider 30's riding posture is in the second posture has been acquired as riding posture information, the execution unit 22 acquires the total value of the load acting on the left and right footrests 5L and 5R based on the output information of the first load sensor 18. The execution unit 22 may then consider the total value of the load acting on the left and right footrests 5L and 5R obtained in this way to be equivalent to the weight of rider 30 and acquire weight information.

[0075] Following step S!02 in Figure 3, in step S!03, the execution unit 22 controls the control mode based on the riding posture information acquired in step S!02 and returns to step S!02.

[0090] [0 0 7 6] As described above, various types of rider assistance operations can be performed in the control mode. In other words, various control modes can be performed in the control mode in which rider assistance operations are performed. The execution unit 22 can control various control modes based on the rider's posture information. The main examples of rider assistance operations are described below.

[0091] [0 0 7 7] For example, the execution unit 22 can execute a control mode in which a speed adjustment operation, which automatically adjusts the speed of the saddle-type vehicle 1, is performed as a rider assistance operation. The execution unit 22 may also control such a control mode based on the riding posture information.

[0092] [0 0 7 8] An example of a speed adjustment operation is adaptive cruise control. Adaptive cruise control is an example of a positional relationship adjustment operation that adjusts the positional relationship between the saddle-type vehicle 1 and the vehicle preceding the saddle-type vehicle 1 to a target positional relationship. However, the positional relationship adjustment operation may also be an operation in which the target positional relationship changes according to the amount of accelerator operation by the rider 3 0.

[0093] [0 0 7 9] Specifically, when a preceding vehicle is detected by the front surrounding environment sensor 1 4, the preceding vehicle is set as the target for positional relationship adjustment. When a preceding vehicle is set as the target for positional relationship adjustment in this way, adaptive cruise control is executed, and the positional relationship between the saddle-type vehicle 1 and the preceding vehicle is adjusted to the target positional relationship. As a result, follow-the-preceding driving is achieved in which the saddle-type vehicle 1 follows the preceding vehicle.

[0094] [0 0 8 0] For example, in adaptive cruise control, 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 preceding vehicle (specifically, the time it takes for the saddle-type vehicle 1 to pass the current position of the preceding vehicle from the current time) is maintained at a target time difference. Also, for example, in adaptive cruise control, the execution unit 22 controls the speed of the saddle-type vehicle 1 so that the distance between the saddle-type vehicle 1 and the preceding vehicle is maintained at a target distance. Furthermore, the execution unit 22 can control the speed of the saddle-type vehicle 1 based on information about the speed of the saddle-type vehicle 1 obtained based on the wheel speed of the front wheels 2 and the wheel speed of the rear wheels 3.

[0095] [0 0 8 1] The speed adjustment operation may also be an operation to adjust the speed of the saddle-type vehicle 1 to a preset target speed without performing the positional relationship adjustment operation described above.

[0096] [0 0 8 2] Also, for example, the execution unit 22 can execute a control mode in which a braking operation is performed as a rider support operation, which automatically generates braking force on the saddle-type vehicle, or automatically amplifies the braking force generated on the saddle-type vehicle 1. The execution unit 22 may control such a control mode based on the riding posture information.

[0097] [0 0 8 3] As a braking operation, for example, when the rider 3 0 of the saddle-type vehicle L is not performing any braking operation, an operation is made to automatically generate braking force on the saddle-type vehicle 1 in accordance with the possibility of collision between the saddle-type vehicle 1 and an object located in front of the saddle-type vehicle 1. Such an operation is also called AEB (Automatic Emergency Brake).

[0098] [0 0 8 4] As a braking operation, for example, when the rider 3 0 of the saddle-type vehicle 1 is performing a braking operation, an operation is made to automatically amplify the braking force generated in the saddle-type vehicle 1 according to the possibility of the saddle-type vehicle 1 colliding with an object located in front of the saddle-type vehicle 1. Such an operation is also called EBA (Emergency Brake Assist).

[0099] [0 0 8 5] Specifically, the execution unit 22 acquires positional relationship information, which is information about the positional relationship between the saddle-type vehicle 1 and the vehicle in front, based on the output information of the front surrounding environment sensor 14. Then, the execution unit 22 determines, based on the positional relationship information, whether the probability of collision between the saddle-type vehicle 1 and the vehicle in front exceeds a certain standard. If the execution unit 22 determines that the probability of collision exceeds the standard, it performs a braking operation by controlling the hydraulic control unit 12. For example, if it is determined that there is a possibility of the saddle-type vehicle 1 colliding with the vehicle in front even if the vehicle in front does not apply the brakes suddenly, this corresponds to the case where the probability of collision exceeds the standard.

[0100] [0 0 8 6] Also, for example, the execution unit 22 can execute a control mode in which a notification operation to notify the rider 30 is performed as a rider support operation. The execution unit 22 may then control such a control mode based on the riding posture information.

[0101] [0 0 8 7] The execution unit 22 may, for example, use the display device 13 to provide notification during the notification operation. However, in the notification operation, notification may be provided using a device other than the display device 13. For example, the execution unit 22 may provide notification during the notification operation using a display device provided on the rider's equipment (e.g., helmet). Also, for example, the execution unit 22 may provide notification during the notification operation using a sound output device or vibration generating device provided on the saddle-type vehicle 1 or the rider's equipment.

[0102] [0 0 8 8] In addition, the execution unit 2 2 may, for example, provide notification in the notification operation by causing instantaneous deceleration in the saddle-type vehicle 1. In this case, instantaneous deceleration may be performed using a control unit for the braking force generated in the wheels (for example, a hydraulic control unit 1 2), using the drive source of the saddle-type vehicle 1 (for example, an engine 1 1), or using the transmission mechanism of the saddle-type vehicle 1.

[0103] [0 0 8 9] The main examples of rider assistance actions have been described above. Below, we will describe an example of how the control mode in which these rider assistance actions are performed is controlled based on the rider's posture information.

[0104]

[0090] The execution unit 22 may, for example, suppress the execution of the control mode if it cannot determine, based on the riding posture information, that the riding posture of the rider 30 is in the first posture. For example, suppressing the execution of the control mode may mean making it less likely for the control mode to be executed.

[0105]

[0091] If it cannot be determined that the rider 30 is in the first riding position, for example, if it is determined that the riding position is in the second riding position, if it is determined that the riding position is in the third riding position, or if it is determined that it is unclear which riding position the rider is in. In these cases, the rider 30's own position may be prone to change and unstable, and if rider assistance actions are performed, safety may be compromised.

[0106] [0 0 9 2] For example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it makes it difficult to perform a speed adjustment operation, thereby suppressing any loss of safety caused by a change in the speed of the saddle-type vehicle due to the speed adjustment operation. Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it makes it difficult to perform a braking operation, thereby suppressing any loss of safety caused by a large braking force being generated on the saddle-type vehicle 1 due to the braking operation. Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it makes it difficult to perform a notification operation, thereby suppressing any loss of safety caused by the rider 30 being distracted by the notification content, etc.

[0107]

[0093] Furthermore, the execution unit 22 may, for example, prohibit the execution of rider support actions if it cannot determine, based on the riding posture information, that the riding posture of the rider 30 is in the first posture. For example, prohibiting the execution of rider support actions may mean prohibiting the start of rider support actions and stopping rider support actions that are currently being executed.

[0108] [0 0 9 4] For example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it can prevent safety from being compromised due to a change in the speed of the saddle-type vehicle 1 caused by the speed adjustment operation by prohibiting the execution of the speed adjustment operation. Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it can prevent safety from being compromised due to a large braking force being generated on the saddle-type vehicle 1 caused by the braking operation by prohibiting the execution of the braking operation. Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it can prevent safety from being compromised due to the rider 30 being distracted by the content of the notification operation by prohibiting the execution of the notification operation.

[0109]

[0095] Furthermore, if the execution unit 22 cannot determine, for example, that the rider 30's riding posture is in the first posture based on the riding posture information, it may change the control parameters of the rider assistance operation.

[0110]

[0096] For example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it limits at least one of the acceleration and deceleration generated in the saddle-type vehicle 1 by the various rider support operations described above, compared to when it can determine that the rider 30's riding posture is in the first posture (for example, by reducing the upper limit of at least one of the acceleration and deceleration). This suppresses changes in the speed of the saddle-type vehicle 1 caused by the rider support operations when the rider 30's own posture is likely to change easily and be unstable, thereby preventing an impairment of safety.

[0111]

[0097] Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it makes the target passing time difference or target inter-vehicle distance in the positional relationship adjustment operation such as adaptive cruise control longer than when it can determine that the rider 30's riding posture is in the first posture. Alternatively, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it makes the start timing of the positional relationship adjustment operation such as adaptive cruise control earlier than when it can determine that the rider 30's riding posture is in the first posture (for example, if the positional relationship adjustment operation is started when the passing time difference between the saddle-type vehicle 1 and the preceding vehicle falls below a certain value, it increases the value). This allows for the suppression of changes in the speed of the saddle-type vehicle 1 due to positional adjustment movements, even when the rider 30's own posture is prone to change and may be unstable, thereby preventing a compromise in safety.

[0112] [0 0 9 8] Also, for example, the execution unit 22 may execute a control mode in which an operation is performed to control the damping characteristics of the suspension of the saddle-type vehicle 1 as a rider support operation. If the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it may make the damping characteristics of the suspension in the above operation different from those when it can determine that the rider 30's riding posture is in the first posture. By doing so, safety may be improved by changing the damping characteristics of the suspension when the rider 30's own posture may be prone to change and unstable.

[0113] [0 0 9 9] In addition, the execution unit 22 may, for example, perform a specific rider assistance action if the riding posture information is specific information.

[0114] [ 0 1 0 0 ] For example, the execution unit 2 2 may perform wheelie control as a rider assistance action. Wheelie control may be, for example, an action that increases the driving force of the saddle-type vehicle 1 to make it easier for the saddle-type vehicle 1 to perform a wheelie, or an action that decreases the driving force of the saddle-type vehicle 1 to make it harder for the saddle-type vehicle 1 to perform a wheelie. A wheelie means a state in which the rear wheel 3 of the saddle-type vehicle 1 is in contact with the ground and the front wheel 2 is off the ground. A wheelie may occur, for example, when rapid acceleration (i.e., acceleration accompanied by a sudden change in acceleration) occurs. The execution unit 2 2 may, for example, perform wheelie control if it can determine from the riding posture information that the riding posture of the rider 3 0 is in the second posture.

[0115] [0 1 0 1] For example, if the execution unit 22 determines that the rider 30 is in the second riding position and that the rider 30 intends to cause a wheelie (for example, when the driving force of the saddle-type vehicle 1 is increasing due to accelerator operation), it performs an action to increase the driving force of the saddle-type vehicle 1 as wheelie control. This makes it easier to cause a wheelie in the saddle-type vehicle 1 in accordance with the rider 30's intention.

[0116] [0 1 0 2] On the other hand, if the execution unit 22 determines that the rider 30 is in the second riding position and that the rider 30 does not intend to cause a wheelie (for example, when the brakes are being applied), it performs an action to reduce the driving force of the saddle-type vehicle 1 as wheelie control. This makes it difficult for the saddle-type vehicle 1 to cause a wheelie in accordance with the rider 30's intentions.

[0117] [0 1 0 3] Also, for example, if the execution unit 22 cannot determine that the rider 30's riding posture is in the first posture, it may perform a rider support action that restricts at least one of the acceleration and deceleration of the saddle-type vehicle 1 in a situation where rider support actions using surrounding environment information (for example, the speed adjustment action described above) are not being performed, compared to when it can be determined that the rider 30's riding posture is in the first posture (for example, by reducing the upper limit of at least one of the acceleration and deceleration). This suppresses changes in the speed of the saddle-type vehicle 1 when the rider 30's own posture is likely to change easily and be unstable, thereby preventing an impairment of safety.

[0118] [0 1 04] Above, various examples of control modes based on the riding status information have been described. The execution unit 22 may perform all of the control types described above among the control examples of control modes based on the riding status information, or it may perform only some of the control types.

[0119] [0 1 0 5] The above describes an example in which the execution unit 22 controls the control mode based on the riding status information. Here, as will be described later, the execution unit 22 can acquire riding status information, which is information about whether or not rider 30 is riding on the saddle-type vehicle. The execution unit 22 may then control the control mode based on the riding status information. Below, an example of additional processing to control the control mode based on the riding status information will be described.

[0120]

[0106] Figure 8 is a flowchart showing an example of an additional processing flow performed by the control device 20. The control flow shown in Figure 8 is an additional control flow performed in addition to the control flow shown in Figure 3, and is executed in parallel with the control flow shown in Figure 3, for example. The control flow shown in Figure 8 starts, for example, after the power to the saddle-type vehicle 1 is turned on. Step S201 in Figure 8 corresponds to the start of the control flow shown in Figure 8.

[0121]

[0107] When the control flow shown in Figure 8 is started, in step S202, the execution unit 22 acquires information on whether or not the rider is on board. The information on whether or not the rider is on board the saddle-type vehicle 1.

[0122] [0 1 0 8] In step 3 2 0 2, the execution unit 2 2 acquires boarding status information based on the output information of the first load sensor 1 8 and the output information of the second load sensor 1 9.

[0123]

[0109] When rider 30 is riding in the saddle-type vehicle 1, rider 30 is in one of the various riding positions described above. Therefore, a load is acting on at least one of the footrest 5 and the seat 4. On the other hand, when rider 30 is not riding in the saddle-type vehicle 1, rider 30 is not sitting on the seat 4, and rider 30's feet are not on the footrest 5. Therefore, no load is acting on either the footrest 5 or the seat 4.

[0124] [〇 1 I 〇 ] The execution unit 2 2, for example, based on the output information of the first load sensor 1 8, each footrest 5 L,

[0125] The load acting on 5R is acquired, and based on the output information of the second load sensor 19, the load acting on seat 4 is acquired. Then, based on the loads acting on each footrest 5L, 5R, and the load acting on seat 4, the execution unit 22 acquires information indicating whether or not the rider 30 is riding in the saddle-type vehicle 1 as riding status information.

[0126] [0 1 1 1] For example, if the execution unit 22 determines that the load acting on each footrest 5L, 5R and the load acting on the seat 4 are all approximately ○, it acquires information indicating that rider 3 ○ is not riding in the saddle-type vehicle 1 as riding presence / absence information. On the other hand, if the execution unit 22 cannot determine that the load acting on each footrest 5L, 5R and the load acting on the seat 4 are all approximately ○, it acquires information indicating that rider 3 ○ is riding in the saddle-type vehicle 1 as riding presence / absence information.

[0127] [0 1 1 2] Following step S202, in step S203, the execution unit 22 acquires stop status information. The stop status information is information on whether the saddle-type vehicle 1 is stopped or not.

[0128] [0 1 1 3] In step S203, the execution unit 22 obtains stop status information based on, for example, the speed information of the saddle-type vehicle 1. 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.

[0129] [〇 ! 1 4 ] For example, if the execution unit 22 can determine that the speed of the saddle-type vehicle 1 is approximately 〇, it acquires information indicating that the saddle-type vehicle 1 is stopped as stop status information. On the other hand, if the execution unit 22 cannot determine that the speed of the saddle-type vehicle 1 is approximately 〇, it acquires information indicating that the saddle-type vehicle 1 is not stopped as stop status information.

[0130] [0 1 1 5] The execution unit 22 may also acquire stopping status information based on information other than speed information. For example, when parking the saddle-type vehicle 1, the rider 30 supports the saddle-type vehicle 1 with his feet on the ground and performs the task of raising the stand member of the saddle-type vehicle 1. The execution unit 22 may also acquire stopping status information based on stand member information, which is information about the state of the stand member of the saddle-type vehicle 1. For example, if the stand member information indicates that the stand member is raised, the execution unit 22 acquires information indicating that the saddle-type vehicle 1 is stopped as stopping status information. The execution unit 22 may also acquire stopping status information based on the surrounding environment information of the saddle-type vehicle 1.

[0131]

[0116] Following step S203, in step S204, the execution unit 22 controls various control modes based on the boarding status information acquired in step S202 and the stop status information acquired in step S203, and returns to step S202. If the rider 30 is not on board the saddle-type vehicle 1, and the saddle-type vehicle 1 is stopped, and the boarding status information indicates that the rider 30 is not on board the saddle-type vehicle 1, If the information regarding whether the vehicle is stopped indicates that the saddle-type vehicle 1 is not stopped, then, for example, a situation can be assumed where an accident has occurred and the saddle-type vehicle 1 is moving on its own without rider 30 on board.

[0132] [〇 ! 1 8 ] For example, the execution unit 22 may prohibit the execution of the speed adjustment operation if the rider 30 is not riding on the saddle-type vehicle 1 and the saddle-type vehicle 1 is not stopped. This prevents the speed of the saddle-type vehicle 1 from being unnecessarily controlled by the speed adjustment operation when the saddle-type vehicle 1 is moving on its own.

[0133] [0 1 1 9] Also, for example, if rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is not stopped, the execution unit 22 may perform a braking operation to stop the saddle-type vehicle 1. This makes it possible to quickly stop the saddle-type vehicle 1 when it is moving on its own.

[0134] [0 1 2 0] In addition, for example, the execution unit 22 may execute a control mode in which a transmission operation is performed as a rider support operation to transmit information indicating that an accident has occurred with the saddle-type vehicle 1 to an external device (for example, a terminal in a hospital) via a communication device. The execution unit 22 may also perform the transmission operation if the rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is not stopped. This would facilitate rescue efforts, such as dispatching an ambulance to the accident scene.

[0135] [0 1 2 1] Above, various examples of control modes for the case when rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is not stopped have been described. The execution unit 22 may perform all of the control examples for the control modes for the case when rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is not stopped, or it may perform only some of the control types.

[0136] [0 1 2 2] If rider 30 is not on board the saddle-type vehicle 1, and the saddle-type vehicle 1 is stopped (i.e., the boarding status information indicates that rider 30 is not on board the saddle-type vehicle 1, and the stopping status information indicates that the saddle-type vehicle 1 is stopped), then it is assumed that rider 30 has parked the saddle-type vehicle 1 and that the saddle-type vehicle 1 is stopped normally.

[0137] [0 1 2 3] For example, the execution unit 22 may execute a control mode in which a prohibition operation is performed as a rider support operation to prohibit switching the ignition of the saddle-type vehicle 1 from off to on. The execution unit 22 may also execute the prohibition operation if the rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is stopped. This can deter the saddle-type vehicle from being stolen by someone other than the rider 30.

[0138] [0 1 24] Also, for example, the execution unit 22 may execute a control mode in which an anti-theft operation is performed, which is an operation to prevent the theft of the saddle-type vehicle 1. An example of an anti-theft operation is an operation that sounds an alarm when a specific operating part on the saddle-type vehicle 1 is operated while it is stopped. The execution unit 22 may activate the above control mode and make it possible to perform the anti-theft operation when the rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is stopped. This makes it possible to deter the theft of the saddle-type vehicle 1 by someone other than the rider 30.

[0139] [0 1 2 5] In addition, for example, the execution unit 22 may execute a control mode in which an approach notification operation is performed to notify the rider of the approaching vehicle 1 from behind. For example, the execution unit 22 executes an approach notification operation when the rear surrounding environment sensor 15 detects the approach of another vehicle from behind the rider 1. The execution unit 22 may activate the above control mode and make it possible to perform the approach notification operation when the rider 30 is not riding the rider 1 and the rider 1 is stopped. As a result, the rider 30 can recognize the approach of another vehicle from behind the rider 1 after dismounting from the rider 1.

[0140] [0 1 2 6] Above, various examples of control modes for the control mode when the rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is stopped have been described. The execution unit 22 may perform all of the control examples for the control mode when the rider 30 is not on the saddle-type vehicle 1 and the saddle-type vehicle 1 is stopped, or it may perform only some of the control types.

[0141] [0 1 2 7] 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.

[0142] [0 1 2 8] For example, the above describes an example in which the execution unit 22 acquires information indicating whether the rider 30's riding posture is the first posture, the second posture, or the third posture, as riding posture information. The riding posture information may be information that can determine only some of the postures among the first posture, the second posture, and the third posture. For example, the riding posture information may be information that includes only any part of the information of the first posture, the second posture, and the third posture.

[0143] [0 1 2 9] Also, for example, the above describes an example in which the execution unit 22 controls various control modes based on riding posture information. However, the rider support operations performed in the control modes controlled based on riding posture information may be all of the types of rider support operations listed above, or they may be any part of the types of rider support operations listed above.

[0144] [0 1 3 0] Also, for example, the above describes an example in which the execution unit 22 controls various control modes based on the presence / absence of rider information and the presence / absence of stop information. However, the rider support operations performed in the control modes controlled based on the presence / absence of rider information and the presence / absence of stop information may be all of the types of rider support operations listed above, or may be only some of the types of rider support operations listed above. Furthermore, the execution unit 22 may control the control modes based on the presence / absence of rider information without using the presence / absence of stop information, or it may not perform control of the control modes based on the presence / absence of rider information or control of the control modes based on the presence / absence of stop information.

[0145] [0 1 3 1] Also, for example, the above describes an example in which the execution unit 22 acquires boarding information based on the output information of the first load sensor 18 and the output information of the second load sensor 19. However, the execution unit 22 may acquire boarding information based only on the output information of the first load sensor 18.

[0146] [ 0 1 3 2 ]

[0147] <Effects of the control device> The effects of the control device 20 according to the embodiment of the present invention will be described below.

[0148] [0 1 3 3] The control device 20 includes an execution unit 22 that executes a control mode in which rider support actions are performed to assist the rider 3. The execution unit 22 acquires information on the rider's riding posture based on the output information of the first load sensor 18 provided on the footrest 5 provided on the saddle-type vehicle 1, and controls the control mode based on the riding posture information. This makes it possible to control the control mode after appropriately understanding the rider's riding posture. Thus, safety can be improved.

[0149] [0 1 34] Preferably, in the control device 20, the riding posture information includes information on a first posture in which the rider 30 is sitting on the seat 4 of the saddle-type vehicle 1 and the rider 30's feet are on the footrest 5. This allows the control mode to be controlled after appropriately determining whether the rider 30's riding posture is in the first posture. Thus, safety is appropriately improved.

[0150] [0 1 3 5] Preferably, in the control device 20, the riding posture information includes information on a second posture in which the rider 30 is not sitting on the seat 4 of the saddle-type vehicle 1 and the rider 30's feet are on the footrest 5. This allows the control mode to be controlled after appropriately determining whether the rider 30's riding posture is in the second posture. Thus, safety is appropriately improved.

[0151] [0 1 3 6] Preferably, in the control device 20, the riding posture information includes information on a third posture in which the rider's 30's feet are not on the footrests 5. This allows the control mode to be controlled after appropriately determining whether the rider's 30 is in the third posture. Thus, safety is appropriately improved.

[0152] [0 1 3 7] Preferably, in the control device 20, the execution unit 22 acquires riding posture information based on the output information of the second load sensor 19 provided on the seat 4 of the saddle-type vehicle 1, in addition to the output information of the first load sensor 18. By using more information, riding posture information can be acquired with greater accuracy.

[0153] [0 1 38] Preferably, in the control device 20, the execution unit 22 acquires information on whether or not the rider 30 is on the saddle-type vehicle 1, based on the output information of the first load sensor 18 and the output information of the second load sensor 19, and controls the control mode based on the information on whether or not the rider 30 is on the saddle-type vehicle 1. This makes it possible to control the control mode after appropriately understanding whether or not the rider 30 is on the saddle-type vehicle 1. Therefore, the control mode can be controlled more appropriately.

[0154] [0 1 3 9] Preferably, in the control device 20, the execution unit 22 acquires information on whether the saddle-type vehicle 1 is stopped, in addition to information on whether the rider 30 is on board, and controls the control mode based on the information on whether the rider 30 is on board the saddle-type vehicle 1, as well as whether the saddle-type vehicle 1 is stopped, and controls the control mode accordingly. Thus, the control mode can be controlled appropriately after appropriately understanding whether the rider 30 is on board the saddle-type vehicle 1, as well as whether the saddle-type vehicle 1 is stopped.

[0155] [0 1 40] Preferably, in the control device 20, the execution unit 22 acquires riding posture information based on the weight information of the rider 30 in addition to the output information of the first load sensor L8. For example, in the above example, the execution unit 22 sets a value used in the process of acquiring riding posture information based on the weight information of the rider 30. This makes it possible to acquire riding posture information after knowing the weight of the rider 30. Thus, riding posture information can be acquired with greater accuracy.

[0156] [0 1 4 1] Preferably, in the control device 20, the execution unit 22 acquires weight information based on the information manually set by the rider 30. This appropriately realizes the acquisition of riding posture information after understanding the weight of the rider 30.

[0157] [0 1 4 2] Preferably, in the control device 20, the execution unit 22 acquires weight information based on the output information of the first load sensor 18. This appropriately realizes the acquisition of riding posture information after determining the weight of the rider 30.

[0158] [0 1 4 3] Preferably, in the control device 20, the rider assistance operation includes a speed adjustment operation that automatically adjusts the speed of the saddle-type vehicle 1. This makes it possible to control the control mode in which the speed adjustment operation is performed after appropriately understanding the riding posture of the rider 30. Therefore, it is possible to suppress situations in which safety is actually compromised by the speed adjustment operation, and thus safety is appropriately improved.

[0159] [0 1 44] Preferably, in the control device 20, the rider assistance operation includes a braking operation that automatically generates a braking force on the saddle-type vehicle 1, or automatically amplifies the braking force generated on the saddle-type vehicle 1. This makes it possible to control the control mode in which the braking operation is performed after appropriately understanding the riding posture of the rider 30. Therefore, it is possible to suppress situations in which safety is actually compromised by the braking operation, and thus safety is appropriately improved.

[0160] [0 1 4 5] Preferably, in the control device 20, the rider assistance operation includes a notification operation that notifies the rider 30. This makes it possible to control the control mode in which the notification operation is performed after appropriately understanding the riding posture of the rider 30. Therefore, it is possible to suppress situations in which safety is actually compromised by the notification operation, and thus safety is appropriately improved.

[0161] [0 1 4 6] The present invention is not limited to the embodiments described. For example, only a portion of the embodiments may be implemented.

[0162] [Sign

[0163] [ 0

[0164] ! Front wheels, 3 rear wheels, 4 seats, 5 footrests, 5 L footrests,

[0165] 5 R Engine, 1 2 Hydraulic control unit, 3 Display device, 1 4 Front and rear surrounding environment sensors, 1 6 Front wheel speed sensor, 1 7 Rear wheel speed and load sensor, 8 L 1st load sensor, 1 8 R 1st load sensor, 9, 2 0 Control device (ECU), 2 ○ Control device, 2 1 Acquisition unit, 2 2 Okubu, 3〇 Rider, 1〇〇 Rider Support System.

Claims

[Document Name] Scope of Claim

1. A control device (20) for a rider support system (100) that assists a rider (30) of a saddle-type vehicle (1), comprising an execution unit (22) that executes a control mode in which a rider support operation that assists the rider (30) is performed, wherein the execution unit (22) is provided with a first load sensor (1) provided on a footrest (5) provided on the saddle-type vehicle (1) A control device that acquires information on the rider's (30) riding posture based on the output information of (8), and controls the control mode based on the riding posture information.

2. The control device according to claim 1, wherein the riding posture information includes information of a first posture in which the rider (30) is sitting on the seat (4) of the saddle-type vehicle (1) and the rider's (30) feet are on the footrest (5).

3. The control device according to claim 1, wherein the riding posture information includes information of a second posture in which the rider (30) is not sitting on the seat (4) of the saddle-type vehicle (1) and the rider's (30) feet are on the footrest (5).

4. The control device according to claim 1, wherein the riding posture information includes information of a third posture in which the rider's (30) feet are not resting on the footrest (5).

5. The control device according to claim 1, wherein the execution unit (22) acquires the riding posture information based on the output information of a second load sensor (19) provided on the seat (4) of the saddle-type vehicle (1), in addition to the output information of the first load sensor (18).

6. The control device according to claim 5, wherein the execution unit (22) acquires information on whether the rider (30) is on the saddle-type vehicle (1) based on the output information of the first load sensor (18) and the output information of the second load sensor (19), and controls the control mode based on the information on whether the rider (30) is on the saddle-type vehicle (1).

7. The control device according to claim 6, wherein the execution unit (22) acquires, in addition to the boarding information, stop information which is information on whether the saddle-type vehicle (1) is stopped, and controls the control mode based on the stop information in addition to the boarding information.

8. The control device according to claim 1, wherein the execution unit (22) acquires the riding posture information based on the weight information of the rider (30) in addition to the output information of the first load sensor (18).

9. The control device according to claim 8, wherein the execution unit (22) acquires the weight information based on the information manually set by the rider (30). [Claim 1 ○] The control device according to claim 8, wherein the execution unit (22) acquires the weight information based on the output information of the first load sensor (18).

11. The control device according to any one of claims 1 to 10, wherein the rider assistance operation includes a speed adjustment operation that automatically adjusts the speed of the saddle-type vehicle (1). [Claim 1 2] The rider assistance operation automatically generates braking force on the saddle-type vehicle (1), or A control device according to any one of claims 1 to 10, including a braking operation that automatically amplifies the braking force generated in the saddle-type vehicle (1).

13. The control device according to any one of claims 1 to 10, wherein the rider support operation includes a notification operation that notifies the rider (30).

14. A control method for a rider support system (100) that assists a rider (30) of a saddle-type vehicle (1), wherein the execution unit (22) of a control device (20) executes a control mode in which a rider support operation that assists the rider (30) is performed, and the execution unit (22) controls a first load sensor (1) provided on a footrest (5) provided on the saddle-type vehicle (1) A control method that acquires information on the riding posture of the rider (30) based on the output information of 8), and controls the control mode based on the riding posture information.

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