DE102021212387A1 - Control device and control method - Google Patents

Abstract

The present invention achieves a control device and a control method capable of improving the safety of a saddle-type vehicle (15) provided behind the rider's (2) seating position of the saddle-type vehicle (1) and facing forward, on-vehicle status information which is status information of an on-vehicle dated Saddle type (1) located shooting object is, and an execution part of the control device (20) based on the on-vehicle-state information performs a driving assistance operation for the driver (2) by the driver assistance system (10).

Description

[Technical Field]

The disclosure relates to a control device and a control method capable of improving the safety of a saddle-type vehicle.

[State of the art]

As a conventional technique for saddle-type vehicles such as motorcycles, etc., there are techniques that assist the driver to improve driving safety.

For example, Patent Document 1 discloses a driver assistance system that warns the driver of a motorcycle that he is inappropriately approaching an obstacle based on information detected by a sensor device for detecting obstacles in the traveling direction or substantially in the traveling direction.

[Prior Art Document]

[patent document]

[Patent Document 1] JP 2009-116882 A

[Summary of the Invention]

[Object to be solved by the invention]

In the case of the saddle-type vehicle, the posture of the vehicle tends to become unstable as compared with, for example, four-wheeled automobiles. Therefore, when a driving assistance operation for assisting a driver in driving (e.g., a warning operation for the driver or an operation for automatically cruising acceleration and deceleration, etc.) is performed, there is a risk that safety is compromised by the on-vehicle condition saddle type (e.g. rider posture) is affected.

The present invention has been made with the above-described object in mind, and relates to a control device and a control method capable of improving the safety of a saddle-type vehicle.

[means for solving the task]

The control device according to the present invention is a control device of a driver assistance system for assisting a driver in driving a saddle-type vehicle, comprising an acquisition part based on an output result of a rear camera provided behind a seated position of the driver of the saddle-type vehicle and directed forward obtains on-vehicle status information that is status information of the shooting object on the saddle-type vehicle, and an executing part that performs a driving assistance operation based on the on-vehicle status information executed for the driver by the driver assistance system.

The control method according to the present invention is a control method of a driver assistance system for assisting a driver in driving a saddle-type vehicle, wherein an acquisition part of the control device is based on an output result of a rear camera provided behind the rider's seating position of the saddle-type vehicle and directed forward obtains on-vehicle status information that is status information of a subject to be photographed on the saddle-type vehicle, and an executing part of the control device performs a driving assistance operation based on the on-vehicle status information executed for the driver by the driver assistance system.

[Advantages of the invention]

In the control device and the control method according to the present invention, an acquisition part of the control device obtains on-vehicle information based on an output result of a rear camera provided behind the driver's seating position of the saddle-type vehicle and facing forward , which is status information of the shooting object on the saddle-type vehicle, and an execution part of the control device performs a driving assistance operation for the driver by the driver assistance system based on the on-vehicle information. Thereby, the driving assistance operation can be performed appropriately according to the state on the saddle-type vehicle. Thus, the safety of the saddle type vehicle can be improved.

character list

• [ 1 ] is a schematic side view of an outline configuration of a saddle-type vehicle according to an embodiment of the present invention.
• [ 2 ] is a schematic plan view of an outline configuration of a saddle-type vehicle according to an embodiment of the present invention.
• [ 3 ] is a block diagram of an exemplary functional arrangement of a control device according to an embodiment of the present invention.
• [ 4 ] is a flowchart of an exemplary flow of processing related to a driver warning operation executed by a control device according to an embodiment of the present invention.

[Embodiments of the invention]

In the following, a control device according to the present invention will be explained with reference to the drawings.

Although a control device used in a two-wheeled motorcycle (see saddle-type vehicle 1 in 1 ); however, the vehicle controlled by the control device according to the present invention may be, for example, a three-wheel motorcycle, a bicycle, a buggy, etc. as long as it is a saddle-type vehicle on which a rider rides. Motorcycles include, but are not limited to, vehicles having an internal combustion engine as a power source and vehicles having an electric motor as a power source, e.g. B. Motorcycles, scooters, electric scooters, etc. Bicycles are any vehicle that can move on the road by a pedaling force exerted by a rider on pedals. Bicycles include regular bicycles, electric pedal-assist bicycles, electric bicycles, etc.

Further, the following will describe the case where, as a drive source capable of outputting a motive force for driving the wheels, an engine (concretely, the engine 11 in FIG 1 ) is installed; however, a drive source other than an engine (e.g., an electric motor) may be installed as the drive source, or a plurality of drive sources may be installed.

Furthermore, the arrangements, operations, etc. explained below are examples; however, the control device and the control method according to the present invention are not limited to these arrangements, operations, and so on.

In the following, the same or similar explanations are simplified or omitted according to the circumstances. In the drawings, the reference numbers for the same or similar components or parts are omitted or the same reference numbers are given. Further, detailed structures in the drawings are simplified or omitted according to the circumstances.

<Arrangement of Saddle Type Vehicle>

The arrangement of a saddle type vehicle 1 according to an embodiment of the present invention will be explained with reference to FIG 1 until 3 explained.

1 12 is a schematic side view of an outline configuration of the saddle-type vehicle 1. 2 12 is a schematic plan view of an outline configuration of the saddle-type vehicle 1. 3 12 is a block diagram of an exemplary functional arrangement of a control device 20.

The saddle-type vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a saddle-type vehicle according to the present invention. As in the 1 and 2 As shown, the saddle-type vehicle 1 is equipped with an engine 11, a hydraulic control unit 12, a notification device 13, a front camera 14, a rear camera 15, an environment sensor 16, a front wheel speed sensor 17, a rear wheel speed sensor 18 and a control device (ECU) 20 .

The saddle-type vehicle 1 is equipped with a driver assistance system 10 that assists the driver 2 in driving the saddle-type vehicle 1 . The driver assistance system 10 includes the above components (i.e. engine 11, hydraulic control unit 12, notification device 13, front camera 14, rear camera 15, environment sensor 16, front wheel speed sensor 17, rear wheel speed sensor 18 and control device 20).

The engine 11 corresponds to an example of a driving source of the saddle-type vehicle 1 and can output a motive force for driving the wheels. For example, the internal combustion engine 11 is equipped with one or a plurality of cylinders inside of which a combustion chamber is formed, a fuel injection valve for injecting a fuel into the combustion chamber, and a spark plug. By injecting fuel from the fuel injection valve, a mixture containing air and fuel is formed in the combustion chamber, and the mixture is ignited and burned by the spark plug. This achieves that a piston provided inside the cylinder reciprocates and a crankshaft rotates. Furthermore, on an air intake passage of the internal combustion engine 11 is a throttle valve is provided, and according to a throttle opening degree, which is the opening degree of the throttle valve, an intake air amount sucked into the combustion chamber changes.

The hydraulic control unit 12 fulfills the function of controlling the braking force occurring at the wheels. For example, the hydraulic control unit 12 is provided on an oil line connecting a master cylinder and a wheel cylinder, and includes components for controlling brake fluid pressure of the wheel cylinder (e.g., a control valve and a pump). By controlling the operation of the components of the hydraulic control unit 12, the braking force applied to the wheels is controlled. The hydraulic control unit 12 can control both the braking force applied to the front wheel and the rear wheel, or it can only control the braking force applied to one of the wheels, e.g. H. on the front or rear wheel, control the braking force that occurs.

The notification device 13 notifies the driver. The notification device 13 has a sound output function and a display function. The sound output function is a function for outputting sounds and is used e.g. B. realized by a speaker. The display function is a function for displaying information in a visually perceptible manner and is used e.g. B. realized by a liquid crystal display or a lamp, etc.

The front camera 14 is provided in front of the seated position (concretely, the assumed seated position) of the rider 2 of the saddle-type vehicle 1 and faces rearward. The front camera 14 shoots a subject (e.g., the driver 2) on the saddle-type vehicle 1 from the front. Concretely, the front camera 14 is provided on the front part of the frame of the saddle-type vehicle 1 in a rearward position. As in the 1 and 2 As shown, a viewing angle FV14 of the front camera 14 is directed backward from the front camera 14 when driving. The front camera 14 captures images showing this view angle FV14 while driving.

The rear camera 15 is provided at a position behind the seated position (concretely, the assumed seated position) of the driver 2 of the saddle-type vehicle 1 and faces forward. The rear camera 15 shoots a subject (e.g., the driver 2) on the saddle-type vehicle 1 from behind. Concretely, the rear camera 15 is provided at the rear part of the frame of the saddle-type vehicle 1 in a forward position. As in the 1 and 2 As shown, a view angle FV15 of the rear camera 15 is forward from the rear camera 15 when driving. The rear camera 15 captures images showing this view angle FV15 while driving.

Each of the cameras, i. H. the front camera 14 and the rear camera 15, e.g. a pickup device such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor, etc., and an image processing device such as an ISP (Image Signal Processor), etc.

The environment sensor 16 acquires environment information related to the environment around the saddle-type vehicle 1 (e.g., in front of it). The environmental sensor 16 in 1 is provided on the front part of the frame of the saddle-type vehicle 1, and detects environmental information about the surroundings in front of the saddle-type vehicle 1. The environmental sensor 16 serves to obtain information on the relationship between the position of a target object located around the saddle-type vehicle 1 and the position of the saddle-type vehicle 1 (eg, relative distance, direction, speed, acceleration or jerk, etc. of the saddle-type vehicle 1 to the target object) as environmental information. Furthermore, the environmental information z. B. also be a status information of the vehicle located in the vicinity of the saddle type 1 target object. The above target may include various obstacles other than vehicles (e.g., a road facility, a fallen object, a human, an animal, etc.) in addition to a vehicle.

A camera for recording the periphery of the saddle-type vehicle 1 and a radar with which the distance from the saddle-type vehicle 1 to a target object located in the vicinity can be detected are used as the surroundings sensor 16 , for example. For example, a preceding vehicle can be detected using an image captured by the camera, and by using the detection result of the preceding vehicle and the detection result of the radar, the vehicle distance between the saddle-type vehicle 1 and the preceding vehicle and the relative speed of the saddle-type vehicle 1 compared to the vehicle in front can be detected. The arrangement of the environmental sensor 16 is not limited to the above example. For example, in the case of the surroundings sensor 16, the radar can be replaced by a LIDAR (laser imaging detection and ranging) or an ultrasonic sensor. Furthermore, the environment sensor 16 z. B. be a stereo camera.

The front wheel speed sensor 17 is a wheel speed sensor for detecting the speed of the front derrads (e.g., a rotational speed of the front wheel per unit time [rpm] or a moving distance per unit time [km/h] or the like), which outputs a detection result. The front wheel speed sensor 17 can also detect another physical quantity, which can essentially be converted into the speed of the front wheel. The front wheel speed sensor 17 is provided on the front wheel.

The rear wheel speed sensor 18 is a wheel speed sensor for detecting the speed of the rear wheel (e.g., a rear wheel rotation speed per unit time [rpm] or a moving distance per unit time [km/h] or the like), and outputs a detection result . The rear wheel speed sensor 18 can also detect another physical quantity, which can essentially be converted into the speed of the rear wheel. The rear wheel speed sensor 18 is provided on the rear wheel.

The control device 20 controls the driver assistance system 10. For example, the control device 20 is constructed entirely or partially from a microcomputer, a microprocessor unit or the like. Further, for example, the control device 20 may be constructed, in whole or in part, of updatable components such as firmware or the like, or it may be a program module or the like that is executed by instructions from a CPU or the like. The control device 20 can e.g. B. be a single device, but it can also be divided into several devices.

The control device 20 is, as in 3 shown, e.g. equipped with a recovery part 21 and an execution part 22. Furthermore, the control device 20 communicates with each of the devices in the driver assistance system 10.

The obtaining part 21 obtains information from each of the devices in the driver assistance system 10 and outputs it to the executing part 22 . For example, the acquisition part 21 obtains information from the front camera 14, the rear camera 15, the environment sensor 16, the front wheel speed sensor 17 and the rear wheel speed sensor 18. The acquisition part 21 can, based on the information it receives from the devices in the driver assistance system 10, secondary information receive. Specifically, based on the output result of the rear camera 15, the obtaining part 21 obtains on-vehicle information. The on-vehicle status information is status information of the shooting subject (e.g., the driver 2) on the saddle-type vehicle 1 . Later, the on-vehicle status information will be explained in detail. In the present specification, obtaining information may include extracting or generating, etc. information.

The execution part 22 executes a driving assistance operation for the driver 2 by the driver assistance system 10 . The driving assistance mode is used to support the driver 2 when driving and can include different operating modes. For example, the driver assistance mode can include a warning mode for the driver 2, a slip control mode, a hill hold mode, or an operation using environmental information (eg, adaptive cruise control, etc.). The details of these modes will be explained later. In the driving assistance mode, the executing part 22 controls the operation of the engine 11, the hydraulic control unit 12, and the notification device 13 according to the circumstances.

As explained above, in the control device 20 , the executing part 22 executes a driving assistance operation for the driver 2 through the driver assistance system 10 . Here, the executing part 22 executes the driving assistance operation based on the on-vehicle information obtained based on the output result of the rear camera 15 . Thereby improving safety of the saddle type vehicle 1 is realized. Processing related to the driving assistance operation executed by the control device 20 will be explained in detail later.

<Operation of the control device>

The operation of the controller 20 according to an embodiment of the present invention is illustrated in FIG 4 explained.

As explained above, in the present embodiment, the execution part 22 of the control device 20 executes the driving assistance operation based on the on-vehicle information obtained based on the output result of the rear camera 15 . An example in which the executing part 22 executes a warning operation for the driver 2 as a driving assistance operation will be explained below. However, as explained above, the driving assistance mode can also be a different mode than the warning mode for the driver 2 .

4 FIG. 14 is a flowchart showing an exemplary flow of processing related to a warning operation for the driver 2 executed by the control device 20. FIG. the inside 4 For example, the illustrated control flow is repeated at time intervals set in advance. The step S101 in 4 corresponds to starting the in 4 illustrated control sequence. The step S107 in 4 equivalent to ending the in 4 illustrated control sequence.

Will the in 4 When the control flow shown is started, the execution part 22 judges in step S102 whether the driver 2 is seated or not. When it is judged that the driver 2 is seated (step S102/YES), it proceeds to step S103 and the on-vehicle state information is obtained. On the other hand, when it is judged that the driver 2 is not seated (step S102/NO), the in 4 shown control process ended.

In step S102, for example, the execution part 22 judges based on the output result of the front camera 14 or the output result of the rear camera 15 whether the driver 2 is seated or not.

When the judgment in step S102 is YES, the obtaining part 21 obtains the on-vehicle information based on the output result of the rear camera 15 in step S103. Next, in step S104, the executing part 22 judges a degree of danger of running of the saddle-type vehicle 1 based on the on-vehicle information.

in the in 4 As explained later, the execution part 22 executes a warning operation according to the degree of danger judged in step S104. In other words, the executing part 22 executes the warning operation based on the on-vehicle information obtained in step S103.

As state-on-vehicle information, e.g. B. a posture information of the driver 2 is given. The posture information is information indicating a posture of the driver 2 seated on the saddle-type vehicle 1 . Concretely, the posture information may include information indicating a position of body parts of the driver 2 with respect to the saddle-type vehicle 1 . Further, the posture information may include information indicating an orientation of body parts of the driver 2 to the saddle-type vehicle 1 . Next, an example of posture information obtained as on-vehicle state information in step S103 and an example of evaluation of the degree of danger based on the posture information in step S104 will be explained.

For example, the obtaining part 21 obtains, as posture information, information indicating an orientation of the head of the driver 2 with respect to the traveling direction of the saddle-type vehicle 1 (concretely, the orientation of the head forward). The execution part 22 can judge whether or not the driver 2 is driving carelessly based on the orientation of the head of the driver 2 . For example, when the head of the driver 2 is directed in a direction largely deviated from the traveling direction of the saddle-type vehicle 1, it is assumed that the driver 2 is driving carelessly, so the executing part 22 calculates the evaluation value of the degree of danger as compared with the case when the head of the driver 2 is directed in a direction close to the traveling direction of the saddle-type vehicle 1 is increased.

Further, for example, the obtaining part 21 obtains, as posture information, information indicating a vertical position of the buttocks of the driver 2 against the seat of the saddle-type vehicle 1 . The execution part 22 can judge whether it is a state where the driver 2 is sitting or a state where the driver 2 is standing based on the vertical position of the buttocks of the driver 2 . For example, when the vertical position of the buttocks of the driver 2 approximately coincides with the vertical position of the seat of the saddle-type vehicle 1, it can be judged that the driver 2 is seated. On the other hand, when the vertical position of the driver's 2 buttocks is higher than the vertical position of the seat of the saddle-type vehicle 1, it can be judged that the driver 2 is standing, so it can be assumed that the posture of the driver 2 is prone to external changes forces and is therefore unstable. Therefore, in the case that the vertical position of the driver's 2 buttocks is higher than the vertical position of the seat of the saddle-type vehicle 1, the executing part 22 increases the evaluation value of the degree of danger compared with the case when the vertical position of the driver's 2 buttocks is in approximately coincides with the vertical position of the saddle type vehicle 1 seat.

Further, for example, the obtaining part 21 obtains, as posture information, information indicating a position of hands of the driver 2 against a handlebar of the saddle-type vehicle 1 . The execution part 22 can judge whether or not the driver 2 is gripping the handlebars based on the position of the hands of the driver 2 . For example, when the hands of the rider 2 and the handlebar of the saddle-type vehicle 1 are not apart from each other, it can be judged that the rider 2 is holding the handlebar. On the other hand, when the hands of the rider 2 and the handlebar of the saddle-type vehicle 1 are spaced apart, it can be judged that the rider 2 is not holding the handlebar, so it can be assumed that the rider's 2 posture is susceptible to changes by external forces and is therefore unstable. Therefore, in the case that the hands of the driver 2 and the handlebar of the saddle-type vehicle 1 are enlarged from each other which are removed, the executing part 22 calculates the evaluation value of the degree of danger compared with the case when the hands of the driver 2 and the handlebar of the saddle-type vehicle 1 are not removed from each other.

When the position of the rider's 2 hands is distant from the handlebar position of the saddle-type vehicle 1, the closer the rider's 2 hands come to the handlebar of the saddle-type vehicle 1, the executing part 22 can make the degree of danger smaller.

Further, for example, the obtaining part 21 obtains, as posture information, information indicating a left/right position of the buttocks of the driver 2 with respect to the saddle-type vehicle 1 . For example, based on the relationship between the left/right position of the driver's 2 buttocks and the turning direction of the saddle-type vehicle 1 (e.g., whether the left/right direction of the driver's 2 buttocks is opposite to the saddle-type vehicle 1 coincides with the turning direction of the saddle-type vehicle 1 or not) judge the stability of the posture of the driver 2 and judge the degree of danger according to the result of the judgement. Preferably, the executing part 22 judges the stability of the driver's 2 posture based on posture information showing the relationship between the left/right position of the driver's 2 buttocks and the turning direction of the saddle-type vehicle 1 and, in addition thereto, the posture of the back (i.e., the position and orientation of the back), the orientation of the head, or the opening status of the arms (i.e., posture including the position and orientation of the arms), etc. of the driver 2 . In other words, it is preferable that the executing part 22 judges the stability of the posture of the driver 2 based on the overall posture of the driver 2 when viewing the driver 2 from behind.

For example, the turning direction of the saddle-type vehicle 1 can be obtained based on the output result of the surrounding sensor 16; but it can also be obtained from a navigation device. Further, the executing part 22 can also perform based on the relationship between posture information other than the left/right position of the buttocks of the driver 2 (e.g., information showing the position and orientation of the back of the driver 2 with respect to the saddle-type vehicle 1 indicates) and the turning direction of the saddle-type vehicle 1 evaluate the stability of the driver's 2 posture.

The on-vehicle condition information may include equipment information of the driver 2 . The equipment information is information regarding the equipment of the rider 2 mounted on the saddle-type vehicle 1. For example, the obtaining part 21 obtains, as equipment information, information indicating whether the rider 2 wears a helmet or not. When the driver 2 does not wear a helmet, the executing part 22 increases the evaluation value of the degree of danger as compared with the case when the driver 2 wears a helmet.

Further, the on-vehicle condition information may include skin exposure information of the driver 2 . The skin exposure information is information indicating whether the skin of the rider 2 mounted on the saddle-type vehicle 1 is exposed or not. For example, when the driver 2 wears a short-sleeved garment and the arms of the driver 2 are exposed, the obtaining part 21 obtains, as skin exposure information, information indicating that the skin of the driver 2 is exposed. In this case, the executing part 22 increases the evaluation value of the degree of danger as compared with the case when the skin of the driver 2 is not exposed.

Further, the on-vehicle state information may include occupancy count information of the saddle-type vehicle 1 . The occupant count information is information indicating the number of occupants mounted on the saddle-type vehicle 1 . For example, when only the driver 2 is seated on the saddle-type vehicle 1, the obtaining part 21 obtains, as the number of boarding information, information indicating that there is a boarding. On the other hand, when a passenger other than the driver 2 sits on the saddle-type vehicle 1 in addition to the driver 2, the obtaining part 21 obtains, as occupant count information, information indicating that there are two occupants. When there are two riders, it is considered that the attitude of the saddle-type vehicle 1 becomes unstable more easily than when there is one rider. Therefore, in the case that there are two riders, the executing part 22 increases the evaluation value of the degree of danger as compared to the case when there is one rider.

Further, the on-vehicle condition information may include baggage information of the saddle-type vehicle 1 . The baggage information is information indicating the baggage carried on the saddle-type vehicle 1 . It is considered that the more luggage there is, the easier it is for the saddle-type vehicle 1 to be delayed in running from a running operation. Therefore, the execution part 22 increases the evaluation value of the degree of danger, the more the luggage is.

Now, the obtaining part 21 can obtain the on-vehicle state information based on the output result of the rear camera 15 and additionally on the output result of the front camera 14 provided in front of the driver's 2 sitting position and facing rearward. Thereby, the on-vehicle information is obtained based on more information than when the on-vehicle information is obtained only based on the output result of the rear camera 15, so that the on-vehicle information -Vehicle information can be obtained in a more appropriate manner.

Moreover, by using the output result of the front camera 14, information other than the information exemplified above can be obtained as on-vehicle information. For example, the obtaining part 21 obtains, as posture information, information indicating the direction of the eyes (i.e., the line of sight) of the driver 2 with respect to the running direction of the saddle-type vehicle 1 . For example, when the eyes of the driver 2 are directed in a direction largely deviating from the running direction of the saddle-type vehicle 1, it is assumed that the driver 2 is driving carelessly, so the executing part 22 calculates the evaluation value of the degree of danger as compared with the case when the eyes of the driver 2 are directed in a direction close to the traveling direction of the saddle-type vehicle 1 is increased. The information indicating the orientation of the driver's 2 eyes can be obtained based on the output result of a camera provided on a helmet worn by the driver 2 on his head.

The obtaining part 21 may also obtain, as the on-vehicle state information, information indicating an opening degree of the eyes (i.e., the opening status of the eyelids) of the driver 2 . The information indicating the degree of opening of the eyes of the driver 2 can be obtained based on the output result of a camera provided on a helmet worn by the driver 2 on his head. It can be assumed that the smaller the opening degree of the driver's 2's eyes, the more the driver's 2's power of concentrating on driving decreases. Therefore, the smaller the degree of opening of the eyes of the driver 2, the more the executing part 22 increases the evaluation value of the degree of danger.

Next, in step S105, the executing part 22 judges whether or not the degree of danger is greater than a threshold value. When it is judged that the degree of danger is larger than the threshold value (step S105/YES), it proceeds to step S106 and a warning operation is carried out. On the other hand, when it is judged that the degree of danger is less than or equal to the threshold value (step S105/NO), the in 4 shown control process ended.

The threshold value is set to a value at which it can be properly judged whether or not the degree of danger evaluated in step S104 is so high that it is necessary to carry out a warning operation for the driver 2 . The threshold may be different according to a switchable driving mode of the saddle-type vehicle 1 . As a driving mode, there are z. B. a city mode, a track mode, etc., wherein the handling characteristics (e.g. the damping characteristic of the suspension or the braking characteristic of the anti-lock braking operation, etc.) when driving the vehicle of the caliper type 1 differ between each mode.

When the judgment in step S105 is YES, in step S106 the executing part 22 executes a warning operation for the driver 2, and the in 4 shown control sequence is terminated. For example, the in 4 shown control flow ends after the warning operation for the driver 2 is continued for a certain time. For example, the in 4 The control flow shown ends when the driver 2 has performed an input operation for stopping the warning operation for the driver 2.

The driver 2 warning operation is an operation in which various devices are caused to give the driver 2 a warning to induce caution in driving. For example, in the warning operation for the driver 2, the executing part 22 causes the notification device 13 to make a display that causes caution in driving. Further, for example, in the warning operation for the driver 2, the executing part 22 makes the notification device 13 output audio, which causes caution in driving.

The warning operation for the driver 2 is not limited to the above examples using the notification device 13 .

For example, in the warning operation for the driver 2, the executing part 22 may also combine a display device provided on a helmet worn by the driver 2 on his head (e.g., a transmissive display arranged in the line of sight of the driver 2). Initiate display prompting caution when driving. Further, for example, in the warning operation for the driver 2, the executing part 22 can cause an audio output device provided on a helmet worn by the driver 2 to output audio, which causes caution in driving.

Further, for example, in the warning operation for the driver 2, the executing part 22 may cause a vibration generating device to generate a vibration that causes caution in driving. The vibration generating device may be provided on the saddle type vehicle 1 or carried by the driver 2 .

Further, for example, the executing part 22 in the warning operation can cause the driver 2 to drive with caution by temporarily decelerating the saddle-type vehicle 1 . The above momentary deceleration can be realized by reducing the output of the engine 11, or by generating a braking force by the hydraulic control unit 12, or by changing the gear ratio of the transmission of the caliper-type vehicle 1.

As explained above, in the in 4 As shown in the control flow, the executing part 22 issues the warning operation to the driver 2 based on the on-vehicle information. Here, the on-vehicle state information is obtained based on the output result of the rear camera 15 . In the image captured by the rear camera 15, as compared to the image captured by the front camera 14, the subject (e.g., the driver 2) on the saddle-type vehicle 1 occupies a larger area. For example, in the image captured by the rear camera 15 of the body parts of the driver 2, body parts that cannot be seen in the image captured by the front camera 14 (e.g., buttocks, etc.) can be seen. Thus, by obtaining the on-vehicle information based on the output result of the rear camera 15, the on-vehicle information can be obtained more appropriately. Consequently, the warning operation for the driver 2 can be appropriately performed according to the condition on the saddle-type vehicle 1 . Thereby, safety of the saddle type vehicle 1 can be improved.

The above explained an example in which the warning operation for the driver 2 is performed based on the on-vehicle information. However, as explained above, the executing part 22 can also execute an operation other than the warning operation for the driver 2 as a driving assistance operation.

The driving assistance mode can e.g. B. include a slip control operation. The slip control operation is an operation for controlling a degree of slip of the wheels to a target degree of slip by increasing or decreasing the braking force or the driving force of the caliper type vehicle 1, and it is e.g. B. an anti-lock braking operation or a drive-slip operation. The degree of slip is an indicator of how much a wheel slides against the road surface. For example, a slip rate obtained by dividing the difference between the vehicle speed and the wheel speed by the vehicle speed is used as the degree of slip. The execution part 22 calculates the slip rate of each of the wheels based on, for example, the wheel speed of the front wheel and the wheel speed of the rear wheel. A parameter other than the slip rate (e.g. another physical variable that can essentially be converted into the slip rate) can also be used as the degree of slip.

The execution part 22 can also execute the skid control operation based on the on-vehicle information obtained based on the output result of the rear camera 15 . For example, in the slip control operation, the executive part 22 may control the degree of slip of the wheels so that the degree of slip of the wheels changes in accordance with the danger degree of running to be assumed based on the on-vehicle information. Here, however, the execution part 22 does not necessarily have to execute processing for evaluating the degree of danger of the journey. As explained above, by obtaining the on-vehicle information based on the output result of the rear camera 15, the on-vehicle information can be more appropriately obtained. Consequently, the slip control operation can be performed appropriately according to the condition on the saddle-type vehicle 1 . Thereby, safety of the saddle type vehicle 1 can be improved.

The driving assistance mode can e.g. B. include a hill-hold operation. The hill-hold operation is an operation in which, when the vehicle is stationary, braking force is generated on the saddle-type vehicle 1 regardless of a brake operation by the driver 2 in order to prevent the saddle-type vehicle 1 from falling when starting on a slope slides backwards.

The executing part 22 can also execute the hill hold operation based on the on-vehicle information obtained based on the output result of the rear camera 15 . For example, in the hill-hold operation, the executive part 22 may control the braking force of the caliper-type vehicle 1 so that the braking force of the caliper-type vehicle 1 changes according to the degree of danger of running to be assumed based on the on-vehicle information. In this case, however, the execution part 22 does not necessarily have to carry out processing for Carry out an evaluation of the danger level of the journey. As explained above, by obtaining the on-vehicle information based on the output result of the rear camera 15, the on-vehicle information can be more appropriately obtained. Consequently, the hill hold operation can be performed appropriately according to the condition on the saddle-type vehicle 1 . Thereby, safety of the saddle type vehicle 1 can be improved.

For example, the driving assistance operation may include an operation using surrounding information obtained based on an output result of a surrounding sensor 16 provided on the saddle-type vehicle 1 or surrounding information obtained through wireless communication with another vehicle or an infrastructure facility becomes.

The operation using surrounding information may be, for example, a notification operation in which the driver is informed of an approach of another vehicle. In the above notification operation, the executing part 22 causes, for example, the notification device 13 to display or output audio that notifies the driver of the approach of another vehicle. Further, the operation using environmental information may be adaptive cruise control, for example. The executing part 22 controls the speed of the saddle-type vehicle 1 according to the vehicle distance between the saddle-type vehicle 1 and a preceding vehicle in the adaptive cruise control so as to avoid a collision with the preceding vehicle. Furthermore, the operation using environmental information may be automatic emergency braking, for example. The executing part 22 automatically generates a braking force on the saddle-type vehicle 1 in the automatic emergency braking when the saddle-type vehicle 1 approaches the preceding vehicle too much to avoid collision with the preceding vehicle.

The execution part 22 can also execute the operation using surrounding information based on the on-vehicle information obtained based on the output result of the rear camera 15 . For example, in the operation using environment information, the executive part 22 may execute various controls so that the timing at which the driver is informed of the approach of another vehicle, and the braking force and the driving force of the saddle-type vehicle 1 according to the degree of danger of the journey that is due to the condition - on-vehicle information to be assumed to be changed. Here, however, the execution part 22 does not necessarily have to execute processing for evaluating the degree of danger of the journey. As explained above, by obtaining the on-vehicle information based on the output result of the rear camera 15, the on-vehicle information can be more appropriately obtained. Consequently, the operation using environmental information can be performed appropriately according to the state on the saddle-type vehicle 1 . Thereby, safety of the saddle type vehicle 1 can be improved.

Here, the acquisition part 21 can also acquire the surrounding information based on the output result of the rear camera 15 functioning as a surrounding sensor. The field of view FV15 of the rear camera 15 is forward. Thus, based on the image captured by the rear camera 15, the obtaining part 21 can obtain environmental information about the environment in the field of view FV15 of the rear camera 15. Specifically, the field of view FV15 of the rear camera 15 includes areas to the side of the saddle-type vehicle 1, so that the surrounding information obtained based on the output result of the rear camera 15 is information regarding the relationship between the position of a saddle-type vehicle 1 to the side target object (e.g. another vehicle) and the position of the saddle-type vehicle 1 . Thus, the operation using surrounding information can be performed more appropriately, for example, by also using surrounding information obtained based on the output result of the rear camera 15 in addition to the surrounding information detected by the surrounding sensor 16 .

<Advantages of the control device>

The advantages of the control device 20 according to an embodiment of the present invention are explained.

In the control device 20 , based on the output result of the rear camera 15 , the acquisition part 21 obtains on-vehicle status information, which is status information of the shooting object on the saddle-type vehicle 1 . The execution part 22 executes the driving assistance operation for the driver 2 by the driver assistance system 10 based on the on-vehicle information. As explained above, in the image captured by the rear camera 15, compared to the image captured by the front camera 14, the subject to be photographed (e.g., the Driver 2) enter a larger area. Thus, the on-vehicle information can be obtained more appropriately by obtaining the on-vehicle information based on the output result of the rear camera 15 . Consequently, the driving assistance operation can be performed appropriately according to the state on the saddle-type vehicle 1 . Thereby, safety of the saddle type vehicle 1 can be improved.

Preferably, in the control device 20, the on-vehicle information includes posture information of the driver 2. Here, based on the output result of the rear camera 15, the posture information of the driver 2 is obtained. Thereby, the posture information of the driver 2 can be more appropriately obtained. Consequently, the driving assistance operation can be performed appropriately according to the posture of the driver 2 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20 , the posture information includes information indicating the position of body parts of the driver 2 with respect to the saddle-type vehicle 1 . As a result, even more detailed posture information of the driver 2 can be obtained. Thus, the driving assistance operation according to the posture of the driver 2 can be performed more appropriately. Consequently, the safety of the saddle-type vehicle 1 can be improved more appropriately.

Preferably, in the control device 20 , the posture information includes information indicating the orientation of body parts of the driver 2 with respect to the saddle-type vehicle 1 . As a result, even more detailed posture information of the driver 2 can be obtained. Thus, the driving assistance operation according to the posture of the driver 2 can be performed more appropriately. Consequently, the safety of the saddle-type vehicle 1 can be improved more appropriately.

Preferably, in the control device 20, the on-vehicle information includes equipment information of the driver 2. Here, based on the output result of the rear camera 15, the equipment information of the driver 2 is obtained. Thereby, the equipment information of the driver 2 can be obtained more appropriately. Consequently, the driving assistance operation can be performed appropriately according to the equipment status of the driver's 2 equipment. Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the on-vehicle information includes skin exposure information of the driver 2. Here, based on the output result of the rear camera 15, the skin exposure information of the driver 2 is obtained. Thereby, the skin exposure information of the driver 2 can be obtained more appropriately. Consequently, the driving assistance operation can be performed appropriately according to the exposure status of the driver's 2 skin. Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the on-vehicle state information includes occupancy count information of the saddle-type vehicle 1. Here, the occupancy count information is obtained based on the output result of the rear camera 15. Thereby, the occupancy count information can be obtained more appropriately. Thus, the driving assistance operation can be appropriately performed according to the number of occupants of the saddle-type vehicle 1 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the on-vehicle information includes luggage information of the saddle-type vehicle 1. Here, the luggage information is obtained based on the output result of the rear camera 15. Thereby, the baggage information can be obtained more appropriately. Thus, the driving assistance operation can be appropriately performed in accordance with the carrying status of luggage on the saddle-type vehicle 1 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the driving assistance operation includes a warning operation for the driver 2. Thereby, the warning operation for the driver 2 can be appropriately performed according to the condition on the saddle-type vehicle 1. Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

In the case of the control device 20, the driver assistance mode preferably includes a slip control mode. Thereby, the slip control operation can be performed appropriately according to the condition on the saddle-type vehicle 1 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

In the case of the control device 20, the driving assistance mode preferably includes a hill-hold mode. Thereby, the hill-hold operation can be performed appropriately according to the condition on the saddle-type vehicle 1 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the driving assistance operation includes an operation in which environmental information obtained based on the output result of the environmental sensor 16 provided on the saddle-type vehicle 1 or environmental information obtained through wireless communication with another vehicle or an infrastructure facility , is used. Thereby, the operation using the surrounding information can be performed appropriately according to the state on the saddle-type vehicle 1 . Consequently, the safety of the saddle-type vehicle 1 can be suitably improved.

Preferably, in the control device 20, the acquisition part 21 obtains the environmental information based on the output result of the rear camera 15 functioning as the environmental sensor Surrounding information obtained based on the output result of the rear camera 15 is used.

Preferably, in the control device 20, the obtaining part 21 obtains the on-vehicle information based on the output result of the rear camera 15 and additionally on the output result of the front camera 14 which is provided in front of the driver's 2 sitting position and faces rearward . Thereby, the on-vehicle information is obtained based on more information than when the on-vehicle information is obtained only based on the output result of the rear camera 15, so that the on-vehicle information -Vehicle information can be obtained in a more appropriate manner. Moreover, by using the output result of the front camera 14, on-vehicle information other than the on-vehicle information obtained only based on the output result of the rear camera 15 can be obtained. Thus, the driving assistance operation corresponding to the state on the saddle-type vehicle 1 can be performed more appropriately. Consequently, the safety of the saddle-type vehicle 1 can be improved more appropriately.

The present invention is not limited to the embodiments described. For example, only part of the embodiments may be implemented. Furthermore, an example in which the on-vehicle information is obtained only based on the output result of the rear camera 15 and an example in which the on-vehicle information is obtained based on the output result of the rear camera 15 and additionally obtained on the output result of the front camera 14 will be explained. However, the on-vehicle condition information may be obtained based only on the output result of the front camera 14 .

Reference List

1

Saddle type vehicle

2

driver

10

driver assistance system

11

combustion engine

12

hydraulic control unit

13

notification device

14

front camera

15

rear camera

16

environmental sensor

17

Front wheel speed sensor

18

rear wheel speed sensor

20

control device

21

extraction part

22

execution part

FV14

field of view

FV15

field of view

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• JP2009116882A [0004]

Claims (15)

A control device (20) of a driver assistance system (10) for assisting a driver (2) in driving a saddle-type vehicle (1), comprising an acquisition part (21) which, based on an output result of a rear camera (15) provided behind a rider's (2) sitting position of the saddle-type vehicle (1) and facing forward, obtains a state-on-vehicle obtains information that is status information of a subject to be photographed on the saddle-type vehicle (1); and an executing part (22) that executes a driving assistance operation for the driver (2) by the driver assistance system (10) based on the on-vehicle information. Control device according to claim 1 wherein the on-vehicle condition information includes posture information of the driver (2). Control device according to claim 2 wherein the posture information includes information indicating a position of body parts of the driver (2) with respect to the saddle-type vehicle (1). Control device according to claim 2 or claim 3 wherein the posture information includes information indicating an orientation of body parts of the driver (2) to the saddle-type vehicle (1). Control device according to one of Claims 1 until 4 wherein the on-vehicle condition information includes equipment information of the driver (2). Control device according to one of Claims 1 until 5 wherein the on-vehicle condition information includes skin exposure information of the driver (2). Control device according to one of Claims 1 until 6 wherein the on-vehicle state information includes occupancy count information of the saddle-type vehicle (1). Control device according to one of Claims 1 until 7 wherein the on-vehicle condition information includes luggage information of the saddle-type vehicle (1). Control device according to one of Claims 1 until 8th , wherein the driver assistance mode comprises a warning mode for the driver (2). Control device according to one of Claims 1 until 9 , wherein the driver assistance mode includes a slip control mode. Control device according to one of Claims 1 until 10 , wherein the driver assistance mode includes a hill-hold mode. Control device according to one of Claims 1 until 11 wherein the driving assistance operation comprises an operation in which environmental information obtained based on an output result of an environmental sensor (16) provided on the saddle-type vehicle (1), or environmental information obtained via wireless communication with another vehicle or an infrastructure facility is used. Control device according to claim 12 wherein the obtaining part (21) obtains the environmental information based on the output result of the rear camera (15) functioning as an environmental sensor. Control device according to one of Claims 1 until 13 wherein the obtaining part (21) obtains the on-vehicle information based on the output result of the rear camera (15) and additionally on an output result of a front camera (14) provided in front of the driver's (2) sitting position and is directed backwards. Control method of a driver assistance system (10) for supporting a driver (2) when driving a vehicle from the saddle type (1), wherein an acquisition part (21) of a control device (20) based on an output result of a rear camera (15) provided behind a rider's (2) sitting position of the saddle-type vehicle (1) and facing forward, a state-on-the - obtains vehicle information which is status information of a subject to be photographed on the saddle-type vehicle (1); and an executing part (22) of the control device (20) executes a driving assistance operation for the driver (2) by the driver assistance system (10) based on the on-vehicle information.

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