JP2017039488A - Lean vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lean vehicle which includes a driver motion detection device capable of sensing a motion of a driver driving a lean vehicle, with an accuracy sufficient to be utilized in the lean vehicle.SOLUTION: A lean vehicle 1 comprises: a vehicle frame 7 which is inclined to the right side of the vehicle at a right turn, and to the left side of the vehicle at a left turn; a seat 8 supported by a vehicle frame 7; a front wheel part 2 disposed on a front side with respect to the seat 8; a rear wheel part 3, a part of which is disposed on the rear side with respect to the seat 8; and a driver motion detection device 330. The driver motion detection device 330 comprises a driver front side sensing part 31 arranged on the front side of a driver 30. The driver front side sensing part 31 performs sensing so that a vertical center of a sensing range is to be below a head of the driver 30, and that the sensing range is to include at least a body of the driver 30. The driver motion detection device 330 includes a driver motion detection part 310 which detects a motion of the body of the driver 30 on the basis of a sensing result of the driver front side sensing part 31.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a lean vehicle, and more particularly to a lean vehicle including a driver motion detection device.

  2. Description of the Related Art Conventionally, there is a technology for sensing a driver's movement with a camera in a passenger car (for example, Patent Document 1). In the passenger car disclosed in Patent Document 1, the driver's movement is detected based on the sensing result. For example, the detected action of the driver is used for evaluating the driving skill of the driver.

JP2015-90676A

  The inventors of the present application have considered applying the technology applied to such a passenger car to a lean vehicle. And we thought about sensing the movement of the driver of the lean vehicle and utilizing the sensing result. In the present specification, the passenger car does not include a lean vehicle such as a motorcycle. A lean vehicle is a vehicle having a body frame that tilts to the right in the left-right direction of the vehicle when turning right, and leans to the left of the left-right direction of the vehicle when turning left.

  The objective of this invention is providing the lean vehicle provided with the driver | operator operation | movement detection apparatus which can sense the operation | movement of the driver | operator of a lean vehicle with the precision which can be utilized with a lean vehicle.

  The inventors of the present application have applied the technique of Patent Document 1 to a lean vehicle for testing. However, it has been found that the technique of Patent Document 1 cannot sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle. Therefore, the difference between the behavior of a passenger car driver and the lean vehicle driver was investigated. The driver of the lean vehicle is driving by moving the center of gravity in addition to the steering operation and the like, unlike the driver of the passenger car. Specifically, the driver of the lean vehicle performs driving by moving the center of gravity in the left-right direction in addition to the steering operation or the like when turning right or turning left. That is, when driving, the driver of the lean vehicle turns the lean vehicle to the right or left by moving the center of gravity in the left-right direction. On the other hand, the driver of the lean vehicle moves in the direction in which the head is raised in order to secure a line of sight or recognize a space when turning right or turning left. That is, when turning right or turning left, the driver's head is moved in a direction different from the direction in which the center of gravity is moved. Accordingly, even when sensing the movement of the driver's head, it is difficult to understand the movement of the driver moving the center of gravity in the left-right direction.

  Therefore, the inventors of the present application have come up with the idea that the driver's torso may be sensed from the front of the driver with the driver motion detection device. When the driver motion detection device senses the front surface of the driver's torso from the front of the driver, an operation for moving the center of gravity of the driver in the left-right direction can be detected. Also, installing the sensing unit in the front can secure a longer distance to the driver's torso than installing the sensing unit in the rear, and senses the lateral movement of the center of gravity of the driver's torso. Can be placed at an easy position. In so doing, it has been found that the driver motion detection device can sense the motion of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  The lean vehicle of the present invention leans rightward in the left-right direction of the vehicle when turning right, leans leftward in the left-right direction of the vehicle when turning left, a seat supported by the body frame, and at least one seat Including a front wheel, supported by the vehicle body frame, including a front wheel portion disposed at least partially in front of the seat in the vehicle front-rear direction, and at least one rear wheel supported by the vehicle body frame, A rear wheel portion at least partially disposed in the direction behind the seat, and a driver motion detection device that detects the motion of the driver's torso, wherein the driver motion detection device is attached to the seat. It is arranged in front of the seated driver, and the center of the sensing range in the vertical direction is below the head of the driver, and at least the driver is in the sensing range. Driving for detecting the driver's trunk based on at least one driver front sensing unit that senses the driver and sensing results from the driver front sensing unit so as to include the front of the driver A person motion detection unit.

  The lean vehicle has a vehicle body frame that tilts to the right in the left-right direction of the vehicle when turning right, and leans to the left of the left-right direction of the vehicle when turning left. Further, the lean vehicle includes a seat, a front wheel portion, and a rear wheel portion. The seat is supported by the body frame. The front wheel portion includes at least one front wheel. The front wheel portion is supported by the body frame, and at least a part of the front wheel portion is disposed in front of the seat in the vehicle front-rear direction. The rear wheel portion includes at least one rear wheel. The rear wheel portion is supported by the body frame, and at least a part of the rear wheel portion is disposed behind the seat in the vehicle front-rear direction. The front wheel portion is provided at the front portion of the lean vehicle. The rear wheel portion is provided at the rear portion of the lean vehicle. In addition, the lean vehicle includes a driver motion detection device. The driver motion detection device includes at least one driver forward sensing unit and a driver motion detection unit. The driver front sensing unit is disposed in front of the driver. The driver is a driver seated on the seat. In addition, the driver front sensing unit is disposed such that the center in the vertical direction of the sensing range is below the head of the driver. Further, the driver front sensing unit is arranged such that at least the front surface of the torso of the driver is included in the sensing range. The driver front sensing unit senses the front of the driver's torso from the front of the driver. Here, the driver of the lean vehicle is driving by moving the center of gravity in addition to the steering operation or the like when turning right or turning left. That is, when driving, the driver of the lean vehicle turns the lean vehicle to the right or left by moving the center of gravity in the left-right direction. Along with this, the trunk below the head of the driver moves in the left-right direction. And a driver | operator detection part can detect operation | movement of a driver | operator's trunk | drum by sensing a driver | operator's trunk | drum from the driver | operator front by a driver | operator front sensing part. In addition, the driver's front sensing unit is installed in the front, and it can secure a longer distance to the driver's torso than the sensing unit in the rear, and senses the lateral movement of the torso's center of gravity. Can be placed at an easy position. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle. Note that the driver forward sensing unit may be arranged so that the driver's head is included in the sensing range.

  In the present invention, the driver motion detection device is arranged behind the driver, and senses the driver so that at least the trunk of the driver is included in the sensing range. At least one driver The driver's operation detection unit further includes an operation of the trunk of the driver based on a sensing result by the driver's front sensing unit and a sensing result by the driver's rear sensing unit. Is preferably detected.

  According to this configuration, the driver motion detection device includes at least one driver rear sensing unit. The driver rear sensing unit is disposed behind the driver. Further, the driver rear sensing unit is arranged such that at least the rear surface of the torso of the driver is included in the sensing range. The driver rear sensing unit senses the rear surface of the driver's trunk from behind the driver. The driver motion detection unit can acquire more information regarding the motion of the driver's torso based on the sensing result from the driver front sensing unit and the sensing result from the driver rear sensing unit. Accordingly, the driver motion detection device can sense the motion of the driver of the lean vehicle with an accuracy that can be utilized more effectively in the lean vehicle.

  In the present invention, the lean vehicle is connected to a head pipe provided at a front portion of the body frame, a steering shaft rotatably inserted into the head pipe, and the steering shaft. A front fork supported from at least the left or right side; and a handle portion having a pair of grip portions connected to the steering shaft, wherein the driver front sensing portion is the head pipe or the handle portion. It is preferable to arrange | position.

  According to this configuration, the driver front sensing unit is disposed on the head pipe or the handle unit. At least a part of the head pipe or the handle portion is often arranged in front of the driver. Therefore, the driver front sensing unit disposed on the head pipe or the handle part can sense the front surface of the driver's torso from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle further includes a mirror stay provided at a front portion of the vehicle, and a rearview mirror attached to the mirror stay, and the driver front sensing unit includes the mirror stay or the rearview mirror. It is preferable to arrange | position.

  According to this configuration, the driver front sensing unit is disposed on the mirror stay or the rearview mirror. At least a part of the mirror stay or the rearview mirror is often arranged in front of the driver. Therefore, the driver front sensing unit disposed on the mirror stay or the rearview mirror can sense the front surface of the driver's torso from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle further includes a head pipe provided at a front portion of the vehicle body frame, and a front cover that covers at least a part of the head pipe from the front of the head pipe, and the driver forward sensing The part is preferably disposed on the front cover.

  According to this configuration, the driver front sensing unit is disposed on the front cover. At least a part of the front cover is often arranged in front of the driver. Therefore, the driver front sensing unit disposed on the front cover can sense the front surface of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle includes a head pipe provided at a front portion of the body frame, a side cover that is disposed at least partly behind the head pipe and covers at least a part of the body frame from the side. The driver front sensing unit is preferably disposed on the side cover.

  According to this configuration, the driver front sensing unit is disposed on the side cover. At least a part of the side cover is often disposed in front of the driver. Therefore, the driver front sensing unit arranged in the side cover can sense the front surface of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, it is preferable that the lean vehicle further includes a fuel tank provided above the body frame, and the driver front sensing unit is disposed in the fuel tank.

  According to this configuration, the driver front sensing unit is disposed in the fuel tank. In many cases, at least a part of the fuel tank provided above the vehicle body frame is disposed in front of the driver. Therefore, the driver front sensing part arranged in the fuel tank can sense the front surface of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle further includes a fuel tank provided above the body frame, and the fuel tank has a meter portion disposed on an upper surface thereof, and the driver front sensing portion is It is preferable that the meter portion is disposed.

  According to this configuration, the driver forward sensing unit is arranged in the meter unit. In many cases, at least a part of the meter portion disposed on the upper surface of the fuel tank is disposed in front of the driver. Therefore, the driver front sensing unit arranged in the meter unit can sense the front surface of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle is connected to a head pipe provided at a front portion of the body frame, a steering shaft rotatably inserted into the head pipe, and the steering shaft. The driver further includes a front fork supported from at least the left or right side, a handle portion having a pair of grip portions connected to the steering shaft, and a meter portion installed on an upper portion of the handle portion. The front sensing unit is preferably arranged in the meter unit.

  According to this configuration, the driver forward sensing unit is arranged in the meter unit. In many cases, at least a part of the meter portion installed on the upper portion of the steering wheel is disposed in front of the driver. Therefore, the driver front sensing unit arranged in the meter unit can sense the front surface of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle is provided at a front part of the body frame, a front cover that covers at least a part of the head pipe from the front of the head pipe, and a rear part of the front cover. In addition, it is preferable that the dash panel further includes at least a part provided in front of the head pipe and on which the meter unit is disposed, and the driver front sensing unit is disposed on the dash panel.

  According to this configuration, the driver forward sensing unit is arranged on the dash panel. At least a part of the dash panel is often arranged in front of the driver. Therefore, the driver front sensing unit arranged on the dash panel can sense the front of the driver's trunk from the front of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator front sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be utilized in the lean vehicle.

  In the present invention, the lean vehicle further includes a rear cover that is disposed at least partly behind the seat and covers at least part of the body frame from the rear, and the driver rear sensing unit is disposed on the rear cover. It is preferred that

  According to this configuration, the driver rear sensing unit is disposed on the rear cover. At least a part of the rear cover is often arranged behind the driver. Therefore, the driver rear sensing unit disposed on the rear cover can sense the rear surface of the driver's trunk from the rear of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator back sensing part. Therefore, the driver operation detection device can sense the operation of the driver of the lean vehicle with an accuracy that can be more utilized in the lean vehicle.

  In the present invention, the lean vehicle includes a vehicle body cover that covers at least a part of the vehicle body frame, and a rear direction indicator lamp that is provided at a rear portion of the vehicle body cover and that is provided in a pair on both sides of the vehicle body cover in the vehicle left-right direction It is preferable that the driver rear sensing unit is disposed in the rear direction indicator lamp unit.

  According to this configuration, the driver rear sensing unit is disposed in the rear direction indicator lamp unit. At least a part of the rear direction indicator lamp unit is often arranged behind the driver. Therefore, the driver rear sensing unit arranged in the rear direction indicator lamp unit can sense the rear surface of the driver's trunk from the rear of the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator back sensing part. Accordingly, the driver motion detection device can sense the motion of the driver of the lean vehicle with an accuracy that can be utilized more effectively in the lean vehicle.

  In the present invention, it is preferable that the lean vehicle further includes a grab bar supported by the body frame and at least a part of which is provided at a rear portion of the seat, and the driver rear sensing unit is disposed on the grab bar. .

  According to this configuration, the driver rear sensing unit is disposed on the grab bar. At least a part of the grab bar is often arranged behind the driver. Therefore, the driver rear sensing unit arranged in the grab bar can sense the rear surface of the driver's trunk from behind the driver. And a driver operation | movement detection part can detect operation | movement of a driver | operator's trunk | drum based on the sensing result of a driver | operator back sensing part. Accordingly, the driver motion detection device can sense the motion of the driver of the lean vehicle with an accuracy that can be utilized more effectively in the lean vehicle.

  In the present invention, it is preferable that the lean vehicle further includes an active driving support control unit that controls the vehicle so as to actively support the driver according to a detection result of the driver operation detecting unit. .

  According to this configuration, the lean vehicle includes the active driving support control unit. The active driving support control unit controls the vehicle to actively support the driver according to the detection result of the driver motion detection unit. The sensing result by the driver forward sensing unit can be used for driving assistance. In addition, the sensing result from the driver rear sensing unit can be used for driving support.

  In the present invention, the driver's head includes the driver's face and is a part above the driver's neck. The driver's torso is a part below the driver's shoulder and above the driver's leg.

  In the present invention, the seat refers to a sitting portion and does not include a portion that leans back.

In the present invention, actively assisting the driver means performing an operation that supports the driving of the driver even if the driver is not operating. For example, even if the driver does not perform the brake operation, the driver is supported by applying the brake.
In the present invention, actively supporting the driver does not include passively supporting the driver. Passively supporting the driver means performing an operation that supports the driver according to the operation of the driver. Supporting the driver passively means, for example, assisting the brake when the driver performs a brake operation.
Moreover, the active driving assistance control part of this invention may control a vehicle so that a driver | operator may be supported irrespective of the operation, when a driver | operator operates. For example, when the driver performs a brake operation, the active driving support control unit may assist the driver by applying a brake regardless of the driver's brake operation. That is, actively supporting the driver may be performing an operation that supports the driving of the driver regardless of the operation of the driver.
Further, the active driving support control unit of the present invention may cancel the support operation that should have been performed if the driver did not operate when the driver operated. For example, the driver's operation may be given priority when the driver performs a brake operation at the timing when the active driving support control unit attempts to apply the brake.
Furthermore, in the present invention, the lean vehicle may include a driving support device that controls the vehicle to passively support the driver according to the sensing result of the front sensing unit.

  In the present invention, the front portion of the lean vehicle means a portion forward from the center of the lean vehicle in the vehicle front-rear direction. Further, the rear portion of the lean vehicle means a portion behind the center of the lean vehicle in the vehicle front-rear direction.

  In the present invention, the end portion of a certain part means a portion obtained by combining the end of the part and its vicinity.

  In the present invention, A and B arranged in the X direction indicate the following states. When A and B are viewed from a direction perpendicular to the X direction, both A and B are arranged on an arbitrary straight line indicating the X direction. In the present invention, A and B arranged in the X direction when viewed from the Y direction indicate the following states. When A and B are viewed from the Y direction, both A and B are arranged on an arbitrary straight line indicating the X direction. In this case, when A and B are viewed from the W direction different from the Y direction, either A or B may not be arranged on an arbitrary straight line indicating the X direction. A and B may be in contact with each other. A and B may be separated. C may exist between A and B.

  In this specification, A being arranged ahead of B indicates the following state. A is arranged in front of a plane passing through the foremost end of B and orthogonal to the front-rear direction. In this case, A and B may be aligned along the front-rear direction or may not be aligned. This definition also applies to directions other than the front-rear direction.

  In this specification, A is arranged in front of B indicates the following state. A and B are arranged in the front-rear direction, and a portion of A facing B is disposed in front of B. In this definition, when the portion of the front surface of B that faces A is the foremost end of B, A is arranged in front of B. In this definition, when the portion of the front surface of B that faces A is not the foremost end of B, A may or may not be disposed in front of B. This definition also applies to directions other than the front-rear direction. The front surface of B is a surface that can be seen when B is viewed from the front. Depending on the shape of B, the front surface of B may be composed of a plurality of surfaces instead of a single continuous surface.

  In this specification, when A is arrange | positioned ahead of B seeing in the left-right direction, the following state is pointed out. A and B are arranged in the front-rear direction when viewed in the left-right direction, and a portion of A facing B is disposed in front of B when viewed in the left-right direction. In this definition, A and B do not have to be aligned in the front-rear direction in the three-dimensional case. This definition also applies to directions other than the front-rear direction.

  In the present invention, the terms “preferred” and “good” are non-exclusive. “Preferred” means “preferably but not limited to”. “Good” means “good but not limited to”.

  In the present invention, including, comprising, having and their derivatives are used with the intention of including additional items in addition to the listed items and their equivalents. ing. The terms mounted, connected and coupled are used in a broad sense. Specifically, it includes not only direct attachment, connection and coupling, but also indirect attachment, connection and coupling. Further, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.

The present invention does not limit the combination of the configurations according to the other aspects described above.
Before describing in detail embodiments of the present invention, it is to be understood that the present invention is not limited to the details of the arrangement and arrangement of components set forth in the following description or illustrated in the drawings. The present invention is also possible in other embodiments, and in embodiments with various modifications. Further, the present invention can be implemented by appropriately combining the modifications described later.

  ADVANTAGE OF THE INVENTION According to this invention, in a lean vehicle provided with a driver | operator operation | movement detection apparatus, the operation | movement of the driver | operator of a lean vehicle can be sensed with the precision which can be utilized with a lean vehicle.

It is a side view of the lean vehicle of an embodiment of the present invention. 1 is a side view of a motorcycle according to a first embodiment of the present invention. Fig. 3 is a plan view of the motorcycle shown in Fig. 2. Fig. 3 is a partially enlarged view showing the periphery of a handle portion of the motorcycle of Fig. 2. Fig. 3 is a front view of the motorcycle shown in Fig. 2. Fig. 3 is a rear view of the motorcycle shown in Fig. 2. FIG. 3 is a front view showing a state where the motorcycle of FIG. 2 is turning. It is a schematic diagram which shows an example of the sensing result by a driver | operator front sensing part. It is a mimetic diagram showing an example of a sensing result by a driver back sensing part. FIG. 3 is a control block diagram of the motorcycle of FIG. 2. It is a side view of the motorcycle of Embodiment 2 of the present invention. Fig. 12 is a plan view of the motorcycle shown in Fig. 11. FIG. 12 is a partially enlarged view showing the periphery of the handle portion of the motorcycle shown in FIG. 11. Fig. 12 is a front view of the motorcycle shown in Fig. 11. FIG. 12 is a rear view of the motorcycle shown in FIG. 11. FIG. 12 is an exploded perspective view showing a meter portion of the motorcycle shown in FIG. 11. It is a schematic diagram which shows another example of the sensing result by a driver | operator front sensing part. It is a schematic diagram which shows another example of the sensing result by a driver | operator back sensing part.

  Hereinafter, a lean vehicle 1 according to an embodiment of the present invention will be described with reference to the schematic diagram of FIG. In the following description, the vehicle front-rear direction may be simply referred to as the front-rear direction. The vehicle left-right direction may be simply referred to as the left-right direction. The vehicle vertical direction may be simply referred to as the vertical direction. An arrow U and an arrow D shown in FIG. 1 respectively represent the upper and lower sides in the vehicle vertical direction, and an arrow F and an arrow B represent the front and rear in the vehicle front-rear direction, respectively. Further, an arrow L and an arrow R shown in FIG. 1 respectively represent a left side (front side of the paper) and a right side (back direction of the paper) of the vehicle left-right direction.

  The lean vehicle 1 includes a vehicle body frame 7, a seat 8, a front wheel portion 2, a rear wheel portion 3, and a driver motion detection device 330. The vehicle body frame 7 tilts to the right in the left-right direction of the vehicle when turning right, and leans to the left of the left-right direction of the vehicle when turning left. The seat 8, the front wheel portion 2, and the rear wheel portion 3 are supported by the body frame 7. The front wheel portion 2 includes at least one front wheel. At least a part of the front wheel portion 2 is disposed in front of the seat 8 in the vehicle longitudinal direction. The rear wheel portion 3 includes at least one rear wheel. At least a part of the rear wheel portion 3 is disposed behind the seat 8 in the vehicle longitudinal direction. The driver motion detection device 330 detects the motion of the driver 30 seated on the seat 8. The driver motion detection device 330 includes one driver forward sensing unit 31 and a driver motion detection unit 310.

  The driver front sensing unit 31 is disposed in front of the driver 30. The driver front sensing unit 31 senses the driver 30 such that the vertical center P11 of the sensing range R11 is below the head of the driver 30. Further, the driver front sensing unit 31 senses the driver 30 so that the sensing range R11 includes at least the front surface of the torso of the driver 30. The driver motion detection unit 310 detects the motion of the trunk of the driver 30 based on the sensing result by the driver forward sensing unit 31.

The lean vehicle 1 according to the embodiment of the present invention has the following characteristics.
The driver 30 of the lean vehicle 1 is driving by moving the center of gravity in addition to the steering operation or the like when turning right or turning left. That is, the driver 30 of the lean vehicle 1 turns the lean vehicle 1 to the right or left by moving the center of gravity in the left-right direction when driving the lean vehicle 1. Accordingly, the trunk below the head of the driver 30 moves in the left-right direction. Then, by sensing the torso of the driver 30 from the front of the driver 30 by the driver front sensing unit 31, the driver operation detecting unit 310 can detect the operation of the torso of the driver 30. . In addition, the driver front sensing unit 31 is installed in the front and can secure a longer distance to the torso of the driver 30 than installing the sensing unit in the rear, and the center of gravity of the torso can be moved in the left-right direction. It can be placed at a position where it is easy to sense. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the lean vehicle 1 with an accuracy that can be utilized by the lean vehicle 1.

  Hereinafter, specific examples of embodiments of the present invention will be described in detail with reference to the drawings. Here, an example in which the lean vehicle of the present invention is applied to the motorcycles 1 and 50 will be described. In the following description, the vehicle front-rear direction, the vehicle left-right direction, and the vehicle vertical direction refer to the front-rear direction and the left-right direction as viewed from the drivers 30, 80 seated on seats 8, 57 described later of the motorcycles 1, 50, respectively. The vertical direction is assumed. An arrow U and an arrow D shown in each figure respectively represent an upper and lower direction in the vehicle vertical direction. Moreover, in each figure, the arrow F and the arrow B represent the front and back of a vehicle front-back direction, respectively. Moreover, in each figure, the arrow L and the arrow R represent the left and right sides of the vehicle left-right direction, respectively. Note that the vehicle vertical direction is a direction perpendicular to the road surface.

(Embodiment 1)
FIG. 2 is a side view of the motorcycle according to the first embodiment of the present invention. FIG. 3 is a plan view of the motorcycle shown in FIG. FIG. 4 is a partially enlarged view showing the periphery of the handle portion of the motorcycle shown in FIG. FIG. 5 is a front view of the motorcycle shown in FIG. FIG. 6 is a rear view of the motorcycle shown in FIG. 2 to 6 show the motorcycle 1 arranged in an upright state on a horizontal road surface.

  The lean vehicle of the first embodiment is a so-called tourer type motorcycle 1. As shown in FIG. 2, the motorcycle 1 includes a body frame 7. The vehicle body frame 7 tilts to the right in the left-right direction of the vehicle when turning right, and leans to the left of the left-right direction of the vehicle when turning left.

  A head pipe 4 is provided at the front portion of the body frame 7. A steering shaft 4a (see FIG. 4) is rotatably inserted into the head pipe 4. A handle portion 40 is provided on the upper portion of the steering shaft 4a. The motorcycle 1 includes a front wheel portion 2 including one front wheel. The motorcycle 1 includes a rear wheel portion 3 including one rear wheel. The front wheel portion 2 is disposed at the front portion of the motorcycle 1 in the vehicle longitudinal direction. Moreover, the front wheel part 2 is arrange | positioned ahead of the seat 8 mentioned later. The rear wheel portion 3 is disposed at the front portion of the motorcycle 1 in the vehicle longitudinal direction. In addition, the rear wheel portion 3 is partially disposed behind the seat 8 described later. A part of the rear wheel portion 3 is disposed behind a seat 8 described later. The front and rear wheels include tires and wheels. When the handle portion 40 is rotated in the left-right direction, a plane passing through the center in the width direction of the front wheel portion 2 is inclined with respect to the vehicle front-rear direction (FB direction).

  The arrows UF, DF, FF, BF, LF, and RF shown in FIGS. 2 to 6 represent the upward direction, the downward direction, the forward direction, the backward direction, the left direction, and the right direction of the body frame 7, respectively. 2 to 6, the vertical direction (UFDF direction) of the body frame 7 is a direction parallel to the axial direction of the head pipe 4 of the body frame 7. The left-right direction (LFRF direction) of the body frame 7 is a direction orthogonal to a plane passing through the center of the body frame 7 in the width direction. The front-rear direction (FFBF direction) of the body frame 7 is a direction orthogonal to both the up-down direction (UFDF direction) of the body frame 7 and the left-right direction (LFRF direction) of the body frame 7. In the description of FIGS. 2 to 6, the motorcycle 1 is arranged upright on a horizontal road surface. Therefore, the left-right direction of the motorcycle 1 matches the left-right direction of the body frame 7.

  Here, the inclination direction of the vehicle body frame 7 in a state where the motorcycle 1 which is a lean vehicle is turning will be described with reference to FIG. FIG. 7 is a front view showing a state where the motorcycle of FIG. 2 is turning. That is, FIG. 7 shows the motorcycle 1 arranged with the body frame 7 of the motorcycle 1 tilted on a horizontal road surface.

  The motorcycle 1 is a lean vehicle. As shown in FIG. 7, the body frame 7 tilts to the right in the left-right direction of the vehicle (LR direction) when turning right, and leans to the left of the left-right direction of the vehicle (LR direction) when turning left. When the body frame 7 is inclined, the vehicle left-right direction (LR direction) does not coincide with the left-right direction (LFRF direction) of the body frame 7 in a front view. In the state where the body frame 7 is tilted to the left and right, the vehicle vertical direction (UD direction) and the vertical direction (UFDF direction) of the vehicle body frame 7 do not match in front view. When viewed from the vertical direction, the vehicle front-rear direction (FB direction) matches the front-rear direction (FFBF direction) of the body frame 7. When the handle portion 40 is rotated, the plane passing through the center in the width direction of the front wheel portion 2 is inclined with respect to the vehicle front-rear direction (FB direction) and the vehicle body frame 7 front-rear direction (FFBF direction) when viewed from the vertical direction. To do. The traveling direction of the motorcycle 1 does not necessarily coincide with the vehicle front-rear direction.

  As shown in FIG. 4, a steering shaft 4 a is connected to the handle portion 40. As shown in FIGS. 2 and 5, the front forks 18 </ b> L and 18 </ b> R are supported by the handle portion 40. Although illustration is omitted, the front forks 18L and 18R and the steering shaft 4a are indirectly connected. The front forks 18L and 18R are provided symmetrically with the front wheel portion 2 interposed therebetween. The front forks 18L and 18R have front suspensions that absorb impact in the expansion and contraction direction. As shown in FIG. 5, the axle 2b is fixed to the lower ends of the front forks 18L, 18R. A front wheel portion 2 is rotatably attached to the axle 2b. The front forks 18L and 18R support the front wheel portion 2 from the left and the right. That is, the front wheel portion 2 is supported by the vehicle body frame 7 via the front forks 18L and 18R. A radiator 33 is disposed behind the front forks 18L and 18R.

  As shown in FIG. 2, a front fender 17 is provided above the front wheel portion 2. The front fender 17 is disposed so as to cover the upper portion of the front wheel portion 2.

  A seat 8 is supported above the body frame 7. The seat 8 includes a main seat 8a and a rear seat 8b. A fuel tank 9 is provided above the body frame 7. The fuel tank 9 is supported by the vehicle body frame 7. The seat 8 is disposed behind the fuel tank 9. The rear seat 8b is disposed behind the main seat 8a. The upper surface of the rear seat 8b is located above the upper surface of the main seat 8a.

  The lower end of the body frame 7 is connected to the front portion of the rear arm 6 via a pivot shaft (not shown). The rear arm 6 can swing up and down around the pivot shaft. The rear wheel portion 3 is supported at the rear portion of the rear arm 6. The rear arm 6 and the vehicle body frame 7 are connected to each other via a pair of left and right rear suspensions (not shown) that absorb impact in the telescopic direction. That is, the rear wheel portion 3 is supported by the vehicle body frame 7 via the rear suspension and the rear arm 6.

  An engine unit 5 is disposed below the body frame 7. The engine unit 5 is supported by the body frame 7. The engine unit 5 of the motorcycle 1 is a water-cooled engine unit that cools the engine body with water. Although illustration is omitted, the engine unit 5 has an engine body and a transmission. The driving force output from the engine body is transmitted to the rear wheel unit 3 through the transmission. The vehicle body frame 7 supports a battery (not shown). The battery supplies power to electronic devices such as a control device 300 and various sensors described later.

  As shown in FIGS. 2 and 3, footrests 10 </ b> L and 10 </ b> R are provided at the lower portions on both the left and right sides of the motorcycle 1, respectively. The feet of the driver 30 are placed on the footrests 10L and 10R during driving. A shift pedal 10La is provided in front of the left footrest 10L. When the driver 30 operates the shift pedal 10La, the transmission gear ratio is changed. As shown in FIG. 3, a brake pedal 10Rb is provided in front of the right footrest 10R. When the driver 30 operates the brake pedal 10Rb, the rotation of the rear wheel portion 3 is braked.

  The motorcycle 1 has a vehicle body cover 20 that covers the vehicle body frame 7 and the like. The vehicle body cover 20 includes a front cover 21, side covers 22 </ b> L and 22 </ b> R, a rear cover 23, and a dash panel 41. The vehicle body cover 20 is made of resin or metal.

  The front cover 21 is disposed in front of the head pipe 4. The front cover 21 is attached to the vehicle body frame 7. The front cover 21 is disposed symmetrically about the center in the left-right direction of the vehicle. The front cover 21 covers the front portion of the head pipe 4 from the front of the head pipe 4. Two headlight units 13L and 13R (see FIG. 5) are attached to the front cover 21.

  The headlight units 13L and 13R illuminate the front of the vehicle. The headlight units 13L and 13R are arranged symmetrically about the center in the left-right direction of the vehicle. The headlight unit 13L is disposed on the left side of the vehicle. The headlight unit 13R is disposed on the right side of the vehicle.

  A screen 12 is disposed on the front cover 21. The screen 12 is disposed in front of the handle portion 40 (see FIG. 4). A portion of the upper portion of the front cover 21 and behind the screen 12 overlaps the screen 12 when viewed from the front of the vehicle in the vehicle front-rear direction. The screen 12 is formed of a transparent resin or the like. Accordingly, when viewed from the front of the vehicle in the vehicle front-rear direction, a part of the upper portion of the front cover 21 behind the screen 12 through the screen 12 is formed so as to be visible.

  As shown in FIG. 3, the handle portion 40 is disposed in front of the seat 8. The handle portion 40 extends in the left-right direction. At least a part of the handle portion 40 is disposed in front of the fuel tank 9. The center of the handle portion 40 is disposed in front of the fuel tank 9.

  As shown in FIG. 4, a dash panel 41 is provided in the vicinity of the handle portion 40. The dash panel 41 is disposed behind the front cover 21 (see FIG. 2). The dash panel 41 is connected to the upper end portion of the front cover 21. The dash panel 41 is at least partially disposed in front of the head pipe 4. On the dash panel 41, a meter section 42 is disposed. The meter unit 42 includes a display device 42a. The display device 42a displays vehicle speed, engine speed, various warnings, and the like. On the dash panel 41, headlight angle adjusters 49L and 49R are arranged. The headlight angle adjustment units 49L and 49R adjust the irradiation angles in the vertical direction of the headlight units 13L and 13R, respectively.

  The driver front sensing unit 31 is disposed in the meter unit 42. More specifically, the driver front sensing unit 31 is disposed directly below the display device 42 a disposed in the center of the meter unit 42. The driver front sensing unit 31 is disposed inside the housing of the dash panel 41 in which the meter unit 42 is formed. The driver front sensing unit 31 senses the driver 30 seated on the seat 8 from the front of the motorcycle 1. The driver front sensing unit 31 is, for example, one of a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio / electric field sensor, a magnetic sensor, and a distance image sensor or Includes multiple. Such a radar and a sensor are configured to irradiate the driver 30 with a millimeter wave or the like from the front of the motorcycle 1 and receive a reflected wave reflected back to the driver 30. For example, the sensing range of the driver forward sensing unit 31 is R11 shown in FIGS. The camera may be monocular or compound eye.

FIG. 8 shows the sensing range R11 of the driver forward sensing unit 31. Arrows US _F , DS _F , LS _F , and RS _F shown in FIG. 8 respectively represent the upward direction, the downward direction, the left direction, and the right direction of the sensing range R11. As shown in FIG. 8, the driver front sensing unit 31 has a center P11 in the vertical direction (US _F DS _F direction) of the sensing range R11 below the head of the driver 30 seated on the seat 8. The meter unit 42 is arranged at such an angle. As shown in FIGS. 2 and 8, the fuel tank 9 in front of the driver 30 is included in the sensing range R11. The driver forward sensing unit 31 may be arranged so that the fuel tank 9 is not included in the sensing range R11. Even if the head of the driver 30 changes in the vertical direction depending on the riding posture of the driver 30 seated on the seat 8, the vertical center P11 of the sensing range R11 is the driving seated on the seat 8. It is preferable that the meter unit 42 be disposed at an angle that is lower than the head of the person 30. The driver front sensing unit 31 is disposed in the meter unit 42 at an angle such that at least the front surface of the trunk of the driver 30 seated on the seat 8 is included in the sensing range R11. For example, the driver forward sensing unit 31 senses the operation of the driver 30 that changes the center of gravity in the left-right direction (LS _F RS _F direction) of the sensing range R11 from the state of the driver 30A to the state of the driver 30B. . Here, the left-right direction (LS _F RS _F direction) of the sensing range R11, that is, the left-right direction in the operation of the driver 30 during driving substantially coincides with the left-right direction (LFRF direction) of the vehicle frame 7. Further, the vertical sensing range R11 (US _F DS _F direction), i.e., the vertical direction in the operation at the time of the driver 30 operation, substantially corresponds to the vertical direction of the vehicle body frame 7 (UFDF direction).

  In FIG. 8, the driver front sensing unit 31 is arranged such that the vertical center P11 of the sensing range R11 is at least above the waist of the driver 30 seated on the seat 8. Then, the part from the waist of the driver 30 to the head becomes the vertical center P11 of the sensing range R11. That is, the sensing range R11 of the driver forward sensing unit 31 includes the front surface of the trunk below the head of the driver 30 that moves most in the left-right direction. And the driver | operator front sensing part 31 can sense reliably the operation | movement which moves the gravity center of the driver | operator 30 to the left-right direction.

  Furthermore, as shown in FIG. 8, the head of the driver 30 may be included in the sensing range R <b> 11 of the driver forward sensing unit 31. In the operation of moving the center of gravity of the driver 30 in the left-right direction, the head of the driver 30 also moves slightly in the left-right direction. Therefore, the driver front sensing unit 31 can more reliably sense the operation of moving the center of gravity of the driver 30 in the left-right direction. However, as shown in FIG. 8, the amount of movement of the head of the driver 30 in the left-right direction is smaller than the amount of movement of the trunk of the driver 30 in the left-right direction.

  As shown in FIG. 4, the handle portion 40 includes grip portions 43L and 43R, handle switch portions 44L and 44R, a handle crown 45, a brake lever 46, a main switch 47, and handle bars 48L and 48R. . The handle bars 48L and 48R are fixed to the handle crown 45. Grip portions 43L and 43R are connected to the end portions of the handle bars 48L and 48R, respectively. The handle crown 45 is connected to the steering shaft 4a.

  The right grip 43R is a throttle grip. The right grip portion 43R is operated to adjust the output of the engine body. Specifically, the right grip portion 43R is operated to adjust the opening of a throttle valve (not shown) of the engine unit 5. A brake lever 46 is provided in front of the right grip 43R. The brake lever 46 is operated to brake the rotation of the front wheels included in the front wheel portion 2.

  The left handle switch unit 44L is provided with various switches such as a switch for switching the irradiation angle of the headlight units 13L and 13R. Various switches such as a starter switch and an engine stop switch are arranged in the right handle switch portion 44R. The power supply from the battery to the electric device can be started or stopped by the switch operation of various switches including the main switch 47. Further, the engine unit 5 can be started or stopped by a switch operation. Further, the screen of the display device 42a of the meter unit 42 can be switched by a switch operation. Moreover, the selection item displayed on the display apparatus 42a of the meter part 42 can be selected by switch operation. One of a plurality of riding modes can be selected by a switch operation. The plurality of riding modes include a manual driving mode, a driving support mode, and an autonomous driving mode. Each mode will be described later.

  As shown in FIG. 5, mirror stays 11 </ b> La and 11 </ b> Ra are provided at the front portion of the motorcycle 1. The mirror stays 11La and 11Ra are disposed outside the upper portion of the front cover 21. One end of each of the mirror stays 11La and 11Ra is fixed to the front cover 21. The mirror stays 11La and 11Ra are arranged symmetrically about the center in the left-right direction of the vehicle. The mirror stays 11La and 11Ra are arranged in the vicinity of the left and right ends of the screen 12. A space is formed inside the mirror stays 11La and 11Ra. Rearview mirrors 11L and 11R are attached to the other ends of the mirror stays 11La and 11Ra, respectively. The rearview mirrors 11L and 11R are disposed outside the upper portion of the front cover 21. The rearview mirrors 11L and 11R include mirror portions 11Lb and 11Rb (see FIG. 4) and back cover portions 11Lc and 11Rc. The back cover portions 11Lc and 11Rc are attached to the other ends of the mirror stays 11La and 11Ra. The back cover portions 11Lc and 11Rc have a shape protruding forward in the vehicle front-rear direction. Flat mirror portions 11Lb and 11Rb are installed behind the back cover portions 11Lc and 11Rc in the vehicle front-rear direction. The mirror portions 11Lb and 11Rb face rearward in the vehicle front-rear direction. The driver 30 can visually recognize the rear of the motorcycle 1 with the mirror portions 11Lb and 11Rb. In the rearview mirrors 11L and 11R, spaces are formed between the mirror portions 11Lb and 11Rb and the back cover portions 11Lc and 11Rc.

  As shown in FIGS. 2 and 3, at least a part of the side covers 22 </ b> L and 22 </ b> R is disposed behind the head pipe 4. Part of the side covers 22L and 22R is disposed behind the front cover 21. The side covers 22L and 22R are connected to the lower end portion of the front cover 21. The side covers 22L and 22R are attached to the vehicle body frame 7. The side covers 22L and 22R cover at least a part of the body frame 7 from the side. The side covers 22L and 22R cover the front portion of the fuel tank 9. The side covers 22L and 22R are arranged symmetrically about the center in the vehicle left-right direction.

  The rear cover 23 is provided at the rear part of the motorcycle 1. The rear cover 23 is disposed behind the side covers 22L and 22R. The rear cover 23 is disposed below the seat 8 and behind the seat 8. The rear cover 23 is located above the rear wheel portion 3. The rear cover 23 covers a part of the vehicle body frame 7 from the rear. The rear cover 23 is supported by the vehicle body frame 7. The rear cover 23 is formed in a symmetrical shape with the center in the left-right direction of the vehicle as the center.

  A taillight 14 is attached to the rear cover 23. The taillight 14 is located at the rear part of the motorcycle 1. The surface of the taillight 14 extends rearward and obliquely upward from the lower end toward the upper end when viewed in the vehicle left-right direction. As shown in FIG. 6, the taillights 14 are arranged symmetrically about the center in the left-right direction of the vehicle. As the taillight 14, a semiconductor light source is used in addition to a halogen lamp. The semiconductor light source includes one or more of LED lights, semiconductor lasers, and organic EL lighting. The semiconductor light source is not limited to LED light, semiconductor laser, and organic EL illumination.

  As shown in FIG. 2, the grab bar 16 is provided at the rear part of the motorcycle 1. The grab bar 16 is attached to the vehicle body frame 7. The grab bar 16 is a member that is gripped by the passenger when the passenger sitting on the rear seat 8b supports the body. The grab bar 16 is disposed above the taillight 14. The front end portion of the grab bar 16 is disposed behind the front end portion of the rear seat 8b. Further, the front end portion of the grab bar 16 is disposed in front of the rear end portion of the rear seat 8b. The grab bar 16 extends obliquely rearward and upward from the front end toward the rear end when viewed in the vehicle left-right direction. The rear end portion of the grab bar 16 is disposed behind and above the rear seat 8b. As shown in FIG. 3, the grab bars 16 are arranged symmetrically about the center in the left-right direction of the vehicle.

  As shown in FIGS. 2 and 3, two driver rear sensing units 32 </ b> L and 32 </ b> R are arranged on the grab bar 16. The driver rear sensing units 32L and 32R are provided in a pair on the left and right above the grab bar 16. When the grab bar 16 has a space inside, the driver rear sensing units 32L and 32R are arranged in the space inside the grab bar 16. The driver rear sensing units 32L and 32R sense the rear surface of the trunk of the driver vehicle 30 from the rear of the driver 30 seated on the seat 8. The driver rear sensing units 32L and 32R are, for example, compound eye cameras. The driver rear sensing units 32L and 32R include one or more of millimeter wave radar, microwave radar, laser radar, ultrasonic sensor, acoustic sensor, infrared sensor, radio wave / electric field sensor, and magnetic sensor. The camera may be monocular. Such a radar and a sensor are configured to irradiate the driver 30 with a millimeter wave or the like from the rear of the motorcycle 1 and receive a reflected wave reflected and returned to the driver 30 or the like. For example, the sensing range of the driver rear sensing units 32L and 32R is R12 shown in FIGS. Note that only one of the driver rear sensing units 32L and 32R may be disposed on the grab bar 16.

FIG. 9 shows the sensing range R12 of the driver rear sensing units 32L and 32R. The sensing range R12 illustrated in FIG. 9 is a range in which the sensing ranges of the driver rear sensing units 32L and 32R are combined. The arrows US _B , DS _B , LS _B , and RS _B shown in FIG. 9 represent the upward direction, the downward direction, the left direction, and the right direction of the sensing range R12, respectively. As shown in FIG. 9, the driver rear sensing units 32L and 32R are arranged on the grab bar 16 at an angle such that at least the rear surface of the trunk of the driver 30 seated on the seat 8 is included in the sensing range R12. As shown in FIGS. 2 and 9, the seat 8 on which the driver 30 is seated is included in the sensing range R12. The driver rear sensing units 32L and 32R are arranged at an angle such that the center P12 of the sensing range R12 in the vertical direction (US _B DS _B direction) is below the head of the driver 30 seated on the seat 8. It does not have to be. The driver rear sensing units 32L and 32R may be arranged at an angle such that the vertical center P12 of the sensing range R12 is the head of the driver 30 seated on the seat 8. For example, the driver rear sensing units 32L and 32R sense the operation of the driver 30 that changes the center of gravity in the left-right direction (LS _B RS _B direction) from the state of the driver 30A to the state of the driver 30B.

  The driver rear sensing units 32L and 32R may be disposed on the meter unit 42 at an angle such that the vertical center P12 of the sensing range R12 is below the head of the driver 30 seated on the seat 8. . Furthermore, the driver rear sensing units 32L and 32R may be arranged such that the vertical center P12 of the sensing range R12 is at least above the waist of the driver 30 seated on the seat 8. Then, the portion from the waist to the head of the driver 30 becomes the center P12 in the vertical direction of the sensing range R12. The sensing range R12 of the driver rear sensing units 32L and 32R includes a trunk portion below the head of the driver 30 that moves most in the left-right direction. The driver rear sensing units 32L and 32R can reliably sense the movement of moving the center of gravity of the driver 30 in the left-right direction.

  As shown in FIGS. 2 and 3, rear direction indicator lamp units 15 </ b> L and 15 </ b> R are arranged at the rear portion of the rear cover 23. The rear direction indicator lamp units 15L and 15R are disposed as a pair on both sides of the rear cover 23 in the left-right direction of the vehicle. The rear direction indicator lamp units 15 </ b> L and 15 </ b> R are disposed on the left and right sides of the rear cover 23. As shown in FIG. 6, the rear direction indicator lamp units 15L and 15R include rear direction indicator lights 15La and 15Ra. The rear direction indicator lamps 15La and 15Ra are arranged at the rear ends of the rear direction indicator lamp units 15L and 15R. The rear direction indicator lights 15La and 15Ra are arranged symmetrically about the center in the vehicle left-right direction. As the rear direction indicator lamps 15La and 15Ra, a semiconductor light source is used in addition to a halogen lamp.

  As shown in FIGS. 2 and 6, the rear fender 19 is attached to the rear cover 23. The rear fender 19 is located below the taillight 14. The rear fender 19 is located above the rear wheel portion 3. The rear fender 19 is disposed so as to cover the upper portion of the rear wheel portion 3.

  As shown in FIG. 5, the front cover 21 is formed with a pair of headlight unit openings 21La and 21Ra. The headlight units 13L and 13R are inserted into headlight unit openings 21La and 21Ra, respectively. The headlight units 13L and 13R are supported on the vehicle body frame 7 via support members (not shown).

  The motorcycle 1 includes a driver motion detection device 330 as shown in FIG. A specific example of the control of the driver motion detection device 330 will be described with reference to FIG. Here, the motorcycle 1 may be configured to be able to switch between the manual operation mode, the driving support mode, and the autonomous driving mode. In the manual operation mode, the motorcycle 1 is driven by the driver 30. In the driving support mode, control that actively supports the driver 30 is performed while the motorcycle 1 is driven by the driver 30. In the driving support mode, control that passively assists the driver may be performed while the motorcycle 1 is driven by the driver. In the autonomous driving mode, control that actively supports the driver is performed so that the motorcycle 1 automatically travels to the target position even if the driver does not drive. In addition, the driving support mode may be automatically set according to the driving situation without being selected by the driver 30. The driving support mode may have a plurality of modes.

  When the motorcycle 1 is configured to be able to switch between the manual driving mode, the driving support mode, and the autonomous driving mode, control for actively supporting the driver 30 in the driving support mode is performed. A specific example of the control of the motorcycle 1 will be described with reference to FIG. FIG. 10 is a block diagram showing a control device of the motorcycle 1. As shown in FIG. 10, the motorcycle 1 includes a control device 300 that controls the operation of each part of the motorcycle 1. The control device 300 is connected to the driver front sensing unit 31 and the driver rear sensing units 32L and 32R described above. The driver front sensing unit 31 and the driver rear sensing units 32L and 32R, and a driver operation detection unit 310 (to be described later) of the control device 300 are included in the driver operation detection device 330. In addition, the driver front sensing unit 31, the driver rear sensing units 32L and 32R, and the control device 300 are included in the active driving support device 320. Although not shown, the control device 300 is connected to various sensors and wireless communication devices provided in the motorcycle 1. The control device 300 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The CPU executes information processing based on programs and various data stored in the ROM and RAM.

  The control device 300 includes, as function processing units, a left / right position detection unit 301, a turn detection unit 302, a front vehicle detection unit 303, a front vehicle distance calculation unit 304, a front vehicle information acquisition unit 305, and a rear vehicle detection unit. 306, a rear vehicle distance calculation unit 307, a rear vehicle information acquisition unit 308, an active driving support control unit 309, and a driver motion detection unit 310. The control device 300 is connected to an engine control unit 311, a transmission control unit 312, a brake control unit 313, a steering control unit 314, and a notification unit 315 for controlling the operation of the motorcycle 1. .

  The left-right position detection unit 301 detects a position in the left-right direction in the lane of the motorcycle 1 based on signals from various sensors and wireless communication devices provided in the motorcycle 1.

  The turning detection unit 302 detects turning of the motorcycle 1 based on signals from various sensors and wireless communication devices provided in the motorcycle 1. The turning detection unit 302 may detect at least one of an inclination angle and an inclination angular velocity.

  The forward vehicle detection unit 303 determines the presence or absence of another vehicle that travels ahead (hereinafter referred to as “front vehicle”) based on signals from various sensors and wireless communication devices provided in the motorcycle 1.

  The forward vehicle distance calculation unit 304 detects the separation distance between the forward vehicle and the motorcycle 1 based on signals from various sensors and wireless communication devices provided in the motorcycle 1.

  The forward vehicle information acquisition unit 305 is based on signals from various sensors, wireless communication devices, and the like included in the motorcycle 1, the position, speed, acceleration in the left-right direction in the lane of the forward vehicle, relative speed with respect to the motorcycle 1, motorcycle The relative acceleration with respect to 1 is detected. When the preceding vehicle is a lean vehicle, the preceding vehicle information acquisition unit 305 may detect at least one of the inclination angle and the inclination angular velocity of the body frame of the preceding vehicle.

  The rear vehicle detection unit 306 determines the presence / absence of another vehicle (hereinafter referred to as “rear vehicle”) traveling behind the vehicle based on signals from various sensors and wireless communication devices provided in the motorcycle 1.

  The rear vehicle distance calculation unit 307 detects the separation distance between the rear vehicle and the motorcycle 1 based on signals from various sensors and wireless communication devices provided in the motorcycle 1.

  The rear vehicle information acquisition unit 308 is based on signals from various sensors and wireless communication devices provided in the motorcycle 1, the position, speed, acceleration in the left-right direction in the lane of the front rear vehicle, relative speed with respect to the motorcycle 1, automatic A relative acceleration with respect to the motorcycle 1 is detected. When the rear vehicle is a lean vehicle, the rear vehicle information acquisition unit 308 may detect at least one of the inclination angle and the inclination angular velocity of the body frame of the rear vehicle.

  The active driving support control unit 309 controls the motorcycle 1 to actively support the driver 30 when the driving support mode is selected. The active driving support control unit 309 controls the motorcycle 1 among the engine control unit 311, the transmission control unit 312, the brake control unit 313, the steering control unit 314, and the notification unit 315. The signal is input / output.

  The driver operation detection unit 310 detects the operation of the trunk of the driver 30 based on the sensing results of the driver front sensing unit 31 or the driver rear sensing units 32L and 32R. The operation of the torso of the driver 30 to be detected is an operation in which the driver 30 moves the center of gravity in the left-right direction.

  A specific example of control by the driver operation detection unit 310 of the driver operation detection device 330 will be described. For example, when the driver operation detection unit 310 detects that the operation of the torso of the driver 30 is a predetermined operation based on the sensing results of the driver front sensing unit 31 or the driver rear sensing units 32L and 32R. In addition, the driver 30 may be alerted. Specifically, the notification unit 315 outputs a signal to the display device 42a and the like installed in the meter unit 42, and performs notification for prompting the driver 30 to pay attention. The notification method of the notification unit 315 may be sound or vibration instead of display on the display device 42a.

  In addition, when the driver operation detection unit 310 detects that the operation of the trunk of the driver 30 is a predetermined operation based on the sensing results of the driver front sensing unit 31 or the driver rear sensing units 32L and 32R. In addition, the motorcycle 1 may be controlled so as to actively support the driver 30 by outputting a signal to the active driving support control unit 309. For example, a specific example of control by the active driving support control unit 309 when the active driving support device 320 functions as an inter-vehicle distance control device (ACC: Adaptive Cruise Control) will be described. The active driving support control unit 309 includes a left / right position detection unit 301, a turn detection unit 302, a forward vehicle detection unit 303, a forward vehicle distance calculation unit 304, a forward vehicle information acquisition unit 305, and a driver motion detection unit. Based on the result of 310, the motorcycle 1 is controlled so that the distance between the preceding vehicle and the motorcycle 1 is maintained at a predetermined distance. Specifically, the active driving support control unit 309 outputs signals to the engine control unit 311, the transmission control unit 312, and the brake control unit 313 so that the speed of the motorcycle 1 becomes a predetermined speed. adjust. The engine control unit 311 adjusts the throttle valve to adjust the engine output. Further, the transmission control unit 312 changes the gear of the transmission according to the speed. The brake control unit 313 adjusts a front brake that applies a braking force to the front wheel unit 2 or a rear brake that applies a braking force to the rear wheel unit 3. The active driving support control unit 309 may output a signal to the steering control unit 314 to rotate the steering shaft 4a.

  The active driving support control unit 309 includes a left / right position detection unit 301, a turn detection unit 302, a rear vehicle detection unit 306, a rear vehicle distance calculation unit 307, a rear vehicle information acquisition unit 308, and driver operation. Based on the result of the detection unit 310, a signal may be output to the notification unit 315 to alert the driver 30 when the distance between the rear vehicle and the motorcycle 1 is within a predetermined distance. . Specifically, the active driving support control unit 309 outputs a signal to the notification unit 315 and notifies the display device 42a and the like installed in the meter unit 42 to alert the driver 30. The notification method of the notification unit 315 may be sound or vibration instead of display on the display device 42a.

  The control device 300 includes a left / right position detection unit 301, a turn detection unit 302, a front vehicle detection unit 303, a front vehicle distance calculation unit 304, a front vehicle information acquisition unit 305, a rear vehicle detection unit 306, and a rear vehicle distance calculation unit 307. In addition, function processing units other than the rear vehicle information acquisition unit 308 and the active driving support control unit 309 may be provided, or some of them may not be provided. However, the driver motion detection unit 310 includes a driver motion detection device 330. The driver motion detection device 330 is provided as a function processing unit of the control device 300. The motorcycle 1 includes a driver front sensing unit 31 and driver rear sensing units 32L and 32R, and a driver operation detection unit 310 of the control device 300. In addition, the control device 300 controls other than the engine control unit 311, the transmission control unit 312, the brake control unit 313, the steering control unit 314, and the notification unit 315 to control the operation of the motorcycle 1. May be provided.

  The configuration of the motorcycle 1 according to the first embodiment has been described above. The motorcycle 1 of the first embodiment has the following characteristics.

  As described above, the motorcycle 1 is a lean vehicle, and includes the body frame 7 that tilts to the right of the vehicle when turning right and leans to the left of the vehicle when turning left. The motorcycle 1 includes a seat 8, a front wheel portion 2, and a rear wheel portion 3. The seat 8 is supported by the body frame 7. The front wheel portion 2 includes at least one front wheel. The front wheel portion 2 is supported by the vehicle body frame 7 and at least a part thereof is disposed in front of the seat 8 in the vehicle longitudinal direction. The rear wheel portion 3 includes at least one rear wheel. The rear wheel portion 3 is supported by the vehicle body frame 7, and at least a part of the rear wheel portion 3 is disposed behind the seat 8 in the vehicle front-rear direction. The motorcycle 1 also includes a driver motion detection device 330. The driver motion detection device 330 includes one driver forward sensing unit 31 and a driver motion detection unit 310. The driver front sensing unit 31 is disposed in front of the driver 30. The driver 30 is a driver 30 seated on the seat 8. Further, the driver front sensing unit 31 is arranged such that the center of the sensing range in the vertical direction is below the head of the driver 30. The driver forward sensing unit 31 is arranged such that at least the trunk of the driver 30 is included in the sensing range. The driver front sensing unit 31 senses the driver 30 from the front. Here, the driver 30 of the motorcycle 1 which is a lean vehicle is driving by moving the center of gravity in the left-right direction in addition to the steering operation or the like when turning right or turning left. That is, the driver 30 of the motorcycle 1 turns the motorcycle 1 to the right or left by moving the center of gravity in the left-right direction when driving. Accordingly, the trunk below the head of the driver 30 moves in the left-right direction. Then, by sensing the front surface of the trunk of the driver 30 from the front of the driver 30 by the driver forward sensing unit 31, the driver motion detection unit 310 detects the motion of the trunk of the driver 30. Can do. In addition, the driver front sensing unit 31 is installed in the front, can secure a longer distance to the torso of the driver 30 than the driver rear sensing units 32L and 32R, and the center of gravity of the torso of the driver 30 can be secured. It can be placed at a position where it is easy to sense movement in the left-right direction. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  The driver motion detection device 330 includes two driver rear sensing units 32L and 32R. The driver rear sensing units 32L and 32R are arranged behind the driver 30. The driver rear sensing units 32L and 32R are arranged so that at least the trunk of the driver 30 is included in the sensing range. The driver rear sensing units 32L and 32R sense the driver 30 from the rear. The driver rear sensing units 32L and 32R sense the rear surface of the trunk of the driver 30 from the rear of the driver 30. The driver motion detection device 330 can acquire more information related to the operation of the trunk of the driver 30 based on the sensing result by the driver front sensing unit 31 and the sensing result by the driver rear sensing units 32L and 32R. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with accuracy that can be more utilized in the motorcycle 1.

  The driver front sensing unit 31 is disposed in the meter unit 42. The meter unit 42 is disposed in front of the driver 30. Therefore, the driver front sensing unit 31 arranged in the meter unit 42 can sense the front surface of the trunk of the driver 30 from the front of the driver 30. The driver operation detection unit 310 can detect the operation of the trunk of the driver 30 based on the sensing result of the driver front sensing unit 31. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  The driver rear sensing units 32L and 32R are disposed on the grab bar 16. The grab bar 16 is disposed behind the driver 30. Therefore, the driver rear sensing units 32 </ b> L and 32 </ b> R arranged on the grab bar 16 can sense the rear surface of the trunk of the driver 30 from the rear of the driver 30. Then, the driver operation detection unit 310 can detect the operation of the trunk of the driver 30 based on the sensing results of the driver rear sensing units 32L and 32R. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with accuracy that can be more utilized in the motorcycle 1.

  The motorcycle 1 also includes an active driving support control unit 309. The active driving support control unit 309 controls the motorcycle 1 to actively support the driver 30 in accordance with the detection result of the driver motion detection unit 310. Thereby, the sensing result by the driver | operator front sensing part 31 can be utilized for driving assistance. In addition, sensing results obtained by the driver rear sensing units 32L and 32R can be used for driving assistance.

(Embodiment 2)
FIG. 11 is a side view of the motorcycle according to the second embodiment of the present invention. FIG. 12 is a plan view of the motorcycle shown in FIG. FIG. 13 is a partially enlarged view showing the periphery of the handle portion of the motorcycle shown in FIG. FIG. 14 is a front view of the motorcycle shown in FIG. FIG. 15 is a rear view of the motorcycle shown in FIG. FIG. 16 is an exploded perspective view showing a meter portion of the motorcycle shown in FIG. In addition, FIGS. 11-15 has shown the motorcycle 50 arrange | positioned in the state standing upright on the horizontal road surface.

  The lean vehicle of the second embodiment is a so-called American type motorcycle 50. As shown in FIG. 11, the motorcycle 50 includes a body frame 51. The vehicle body frame 51 is tilted rightward in the left-right direction of the vehicle when turning right, and tilted leftward in the left-right direction of the vehicle when turning left.

  The vehicle body frame 51 has a head pipe 55. The head pipe 55 is provided at the front portion of the vehicle body frame 51. A steering shaft 55a (see FIG. 13) is rotatably inserted into the head pipe 55. A handle portion 70 is provided on the upper portion of the steering shaft 55a. The motorcycle 50 includes a front wheel portion 52 including one front wheel. The motorcycle 50 includes a rear wheel portion 53 including one rear wheel. The front wheel portion 52 is disposed at the front portion of the motorcycle 50 in the vehicle longitudinal direction. Further, the front wheel portion 52 is disposed in front of a seat 57 described later. The rear wheel portion 53 is disposed at the front portion of the motorcycle 50 in the vehicle longitudinal direction. Further, a part of the rear wheel portion 53 is disposed behind a seat 57 described later. The front and rear wheels include tires and wheels. When the handle portion 70 is rotated in the left-right direction, a plane passing through the center in the width direction of the front wheel portion 52 is inclined with respect to the vehicle front-rear direction (FB direction).

  Arrows UF, DF, FF, BF, LF, and RF shown in FIGS. 11 to 16 represent the upward direction, the downward direction, the forward direction, the backward direction, the left direction, and the right direction of the body frame 51, respectively. 11 to 16, the vertical direction (UFDF direction) of the body frame 51 is a direction parallel to the axial direction of the head pipe 55 of the body frame 51. The left-right direction (LFRF direction) of the body frame 51 is a direction orthogonal to a plane passing through the center of the body frame 51 in the width direction. The front-rear direction (FFBF direction) of the body frame 51 is a direction orthogonal to both the up-down direction (UFDF direction) of the body frame 51 and the left-right direction (LFRF direction) of the body frame 51. In the description of FIGS. 11 to 16, the motorcycle 50 is arranged in an upright state on a horizontal road surface, and therefore, the left-right direction of the motorcycle 50 and the left-right direction of the body frame 51 coincide.

  Here, the inclination direction of the vehicle body frame 51 when the motorcycle 50, which is a lean vehicle, is turning is substantially the same as the inclination direction of the vehicle body frame 7 when the motorcycle 1 shown in FIG. 7 is turning. The explanation is omitted.

  As shown in FIG. 13, a steering shaft 55 a is connected to the handle portion 70. As shown in FIGS. 12 and 14, front forks 68 </ b> L and 68 </ b> R (see FIG. 14) are supported on the handle portion 70. The front forks 68L and 68R are supported by a bracket 68a. The bracket 68a is disposed between the front forks 68L and 68R in the vehicle vertical direction. As shown in FIG. 11, the bracket 68 a is disposed above the front wheel portion 52 and the front fender 67. The bracket 68a is disposed below the headlight unit 54.

  As shown in FIGS. 12 and 14, forward direction indicator lamp units 69L and 69R are disposed at the left and right ends of the bracket 68a. The forward direction indicator lamp units 69L and 69R are disposed in the front part of the vehicle. The forward direction indicator lamp units 69L and 69R are disposed on the left and right sides of the vehicle. The front direction indicator lamp units 69L and 69R include front direction indicator lamps 69La and 69Ra. The forward direction indicator lamps 69La and 69Ra are arranged at the front ends of the forward direction indicator lamp units 69L and 69R. As shown in FIG. 14, the front direction indicator lights 69La and 69Ra are arranged symmetrically about the center in the left-right direction of the vehicle. As the forward direction indicators 69La and 69Ra, a semiconductor light source is used in addition to a halogen lamp.

  Front forks 68L and 68R are connected to the steering shaft 55a. The front forks 68L and 68R are provided symmetrically with respect to the front wheel portion 52. The front forks 68L and 68R have front suspensions that absorb impact in the expansion and contraction direction. An axle 52b is fixed to the lower ends of the front forks 68L and 68R. A front wheel portion 52 is rotatably attached to the axle 52b. Then, the front wheel 52 is supported by the front forks 68L and 68R from the left and the right in the left-right direction of the vehicle. That is, the front wheel portion 52 is supported by the vehicle body frame 51 via the front forks 68L and 68R.

  As shown in FIG. 11, a front fender 67 is provided above the front wheel portion 52. The front fender 67 is disposed so as to cover the upper portion of the front wheel portion 52.

  A seat 57 is supported above the body frame 51. The seat 57 includes a main seat 57a and a rear seat 57b. A fuel tank 59 is provided above the vehicle body frame 51. The fuel tank 59 is supported by the vehicle body frame 51. The seat 57 is disposed behind the fuel tank 59. The rear seat 57b is disposed behind the main seat 57a. The upper surface of the rear seat 57b is located above the upper surface of the main seat 57a.

  The body frame 51 includes a pair of left and right main tubes 51a, a pair of left and right down tubes 51b, and a pair of left and right coupling members 51d. The main tube 51a extends substantially linearly from the head pipe 55 in the rear downward direction. The down tube 51b extends from below from the head pipe 55, and extends substantially linearly rearward through the bent portion 51c. The coupling member 51d couples the rear end portion of the main tube 51a and the rear end portion of the down tube 51b. Suspension brackets (not shown) extending in the vehicle vertical direction are provided at the front-rear direction intermediate portion of the main tube 51a and the front-rear direction intermediate portion of the down tube 51b.

  The rear arm 56 includes an upper arm 56a, an under arm 56b, and a rear bracket 56c. The rear end portion of the upper arm 56a and the rear end portion of the under arm 56b are coupled by a rear bracket 56c. The front end portion of the upper arm 56a and the front end portion of the under arm 56b are coupled by a connection pipe (not shown). A front end portion of the under arm 56b is connected to a suspension bracket of the vehicle body frame 51 via a pivot shaft (not shown). That is, the rear arm 56 can swing up and down around the pivot shaft. A rear wheel portion 53 is supported on the rear bracket 56c of the rear arm 56 via an axle 53a. That is, the rear wheel portion 53 is supported by the vehicle body frame 51 via the rear arm 56.

  An engine unit 58 is disposed below the body frame 51. The engine unit 58 is supported by the down tube 51 b of the vehicle body frame 51. The engine unit 58 of the motorcycle 50 is an air-cooled engine unit that cools the engine body with air. Although illustration is omitted, the engine unit 58 has an engine body and a transmission. The driving force output from the engine body is transmitted to the rear wheel portion 53 via the transmission. The vehicle body frame 51 supports a battery (not shown). The battery supplies power to electronic devices such as a control device 300 and various sensors described later.

  As shown in FIGS. 11 and 14, footrests 85 </ b> L and 85 </ b> R are provided at lower portions on both sides of the motorcycle 1 in the lateral direction of the vehicle. The foot of the driver 80 is put on the footrests 85L and 85R during driving. A shift pedal 85La is provided in front of the left footrest 85L. When the driver 80 operates the shift pedal 85La, the transmission gear ratio is changed. As shown in FIG. 14, a brake pedal 85Rb is provided in front of the right footrest 85R. When the driver 80 operates the brake pedal 85Rb, the rotation of the rear wheel portion 53 is braked.

  The motorcycle 50 has a vehicle body cover 60 that covers the vehicle body frame 51 and the like. The vehicle body cover 60 includes a front cover 61, side covers 62 </ b> L and 62 </ b> R, and a rear cover 63. The vehicle body cover 60 is made of resin or metal.

  The front cover 61 covers the rear part of the head pipe 55. The front cover 61 covers the front end portions of the main tube 51a and the down tube 51b extending from the head pipe 55 from the front. The front cover 61 covers the front part of the fuel tank 59. The front cover 61 is provided with a main switch (not shown). The main switch performs start and stop of the engine unit 58, handle lock, and the like.

  The headlight unit 54 is disposed in front of the head pipe 55. The headlight unit 54 is attached to the head pipe 55. The headlight unit 54 is disposed at the center in the left-right direction of the vehicle. The headlight unit 54 illuminates the front of the vehicle.

  As shown in FIG. 12, the handle portion 70 is disposed in front of the seat 57. The handle part 70 extends in the left-right direction. At least a part of the handle portion 70 is disposed in front of the fuel tank 59. The center of the handle portion 70 is disposed in front of the fuel tank 59.

  As shown in FIG. 13, a meter unit 90 is disposed on the upper surface of the fuel tank 59. The meter unit 90 includes a display device 91. The display device 91 displays vehicle speed, engine speed, various warnings, and the like.

  A driver front sensing unit 81 is disposed in the meter unit 90. The driver front sensing unit 81 is disposed inside the casing in which the meter unit 90 is formed. The driver front sensing unit 81 senses the front surface of the trunk of the driver 80 from the front of the driver 80 seated on the seat 57. The driver front sensing unit 81 is, for example, one of a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio wave / electric field sensor, a magnetic sensor, and a distance image sensor or Includes multiple. The camera may be monocular or compound eye. Such a radar and a sensor are configured to irradiate the driver 80 with a millimeter wave or the like from the front of the motorcycle 50 and receive a reflected wave reflected back to the driver 80. For example, the sensing range of the driver forward sensing unit 81 is R21 shown in FIGS. Here, the structure of the meter part 90 in which the driver | operator front sensing part 81 is arrange | positioned is demonstrated based on FIG.

  As shown in FIG. 16, the meter unit 90 includes a display device 91, a meter cover 92, and seal members 93 and 94. The display device 91 includes a meter that displays the vehicle speed, the engine rotation speed, and the like, an indicator that displays various warnings, and the like. The meter cover 92 covers the periphery of the display device 91. The seal member 93 is disposed at the lower end portion of the peripheral wall of the meter cover 92. The seal member 94 is disposed on the periphery of a meter opening 92 a (described later) of the meter cover 92. The meter unit 90 is detachably installed on a meter installation unit 95 provided on the upper surface of the fuel tank 59.

  The display device 91 is provided with a display panel 91a. The display panel 91a is provided with a meter 91b for displaying a vehicle speed, an engine rotation speed, and the like, and an indicator 91c for displaying various warnings such as a switch state. The meter 91b is an analog meter in FIG. However, the meter 91b includes a digital meter. The upper surface of the display panel 91a is covered with a cover 91e. The cover 91e is formed of a transparent resin or glass. The cover 91e protects the meter 91b and the indicator 91c from the outside. The display device 91 is provided with various operation buttons 91d. The operation button 91d is disposed behind the display panel 91a. The operation button 91d is provided so as to protrude above an operation button opening 92d described later provided on the meter cover 92. In addition, a driver front sensing unit 81 is disposed behind the display device 91. Further, the display device 91 is provided with attachment portions 91f and 91g for attaching the display device 91 to the meter cover 92. Further, the display device 91 is provided with attachment portions 91 h and 91 i for attaching the display device 91 to the fuel tank 59.

  The meter cover 92 is formed with a meter opening 92a, an indicator opening 92b, a driver front sensing part opening 92c, and an operation button opening 92d. Further, the meter cover 92 is formed with attachment portions 92e and 92f for attachment to the display device 91. The driver front sensing part opening 92c is preferably formed with a cover made of transparent resin or glass.

  Mounting stays 95 a and 95 b are formed in the meter installation portion 95. Further, the meter installation part 95 is formed with a hole part 95c for discharging water that has entered the meter installation part 95.

  The display device 91 and the driver forward sensing unit 81 are accommodated in the meter installation unit 95. Then, the attachment portion 91f and the attachment stay 95a are fixed by bolting or the like. Further, the attachment portion 91i and the attachment stay 95b are fixed by bolting or the like. Then, the display device 91 is attached to the meter installation unit 95. Further, the driver front sensing unit 81 is fixedly attached to the meter installation unit 95 by bolting or the like.

  The meter cover 92 to which the seal members 93 and 94 are attached is put on the meter installation portion 95. Then, the attachment portion 92e and the attachment portion 91g are fixed by bolting or the like. Further, the attachment portion 92f is fixed to the attachment portion 91g by bolting or the like. Then, the meter cover 92 is attached to the display device 91. In this state, the meter 91b of the display panel 91a is visible from the meter opening 92a. Further, the indicator 91c can be visually recognized from the indicator opening 92b. Further, the driver front sensing unit 81 can be visually recognized from the driver front sensing unit opening 92c. Various operation buttons 91d protrude from the operation button opening 92d.

  The sensing range R21 of the driver forward sensing unit 81 is substantially the same as the sensing range R11 of the driver forward sensing unit 31 of the first embodiment, and illustration thereof is omitted. As shown in FIG. 11, the driver front sensing unit 81 is disposed in the meter unit 90 at an angle such that the vertical center P21 of the sensing range R21 is below the head of the driver 80 seated on the seat 57. Is done. As shown in FIG. 11, the sensing range R21 does not include the fuel tank 59 in front of the driver 80. Even if the head of the driver 80 changes in the vehicle vertical direction depending on the riding posture of the driver 80 seated on the seat 57, the driver 80 is positioned below the head of the driver 80 seated on the seat 57. It is preferable that the meter unit 90 is disposed at a certain angle. The driver front sensing unit 81 is disposed in the meter unit 90 at an angle such that at least the front surface of the trunk of the driver 80 seated on the seat 57 is included in the sensing range R21.

  Note that the driver front sensing unit 81 has the vertical center P21 of the sensing range R21 above at least the waist of the driver 80 seated on the seat 57, like the driver front sensing unit 31 of the first embodiment. It is preferable that they are arranged as described above. Then, the portion from the waist to the head of the driver 80 becomes the center in the vertical direction of the sensing range R21. In other words, the sensing range R21 of the driver front sensing unit 81 includes a torso below the head of the driver 80 that moves most in the left-right direction. Then, the driver front sensing unit 81 can reliably sense the operation of moving the center of gravity of the driver 80 in the left-right direction.

  Furthermore, the head of the driver 80 may be included in the sensing range R21 of the driver forward sensing unit 81 as in the driver forward sensing unit 31 of the first embodiment. In the operation of moving the center of gravity of the driver 80 in the left-right direction, the head of the driver 80 also moves slightly in the left-right direction. Therefore, the driver front sensing unit 81 can more reliably sense the operation of moving the center of gravity of the driver 80 in the left-right direction. However, the amount of movement of the head of the driver 80 in the left-right direction is smaller than the amount of movement of the trunk of the driver 80 in the left-right direction.

  As shown in FIG. 13, the handle portion 70 includes a handle bar 71, grip portions 72 </ b> L and 72 </ b> R, handle switch portions 73 and 74, and a handle crown 75. The handle bar 71 is fixed to the handle crown 75. Grip portions 72L and 72R are connected to both ends of the handle bar 71. The handle crown 75 is connected to the steering shaft 55a.

  The right grip portion 72R is a throttle grip. The right grip 72R is operated to adjust the output of the engine body. Specifically, the right grip portion 72R is operated to adjust the opening of a throttle valve (not shown) of the engine unit 58. A brake lever 76 is provided in front of the right grip portion 72R. The brake lever is operated to brake the rotation of the front wheel portion 52.

  The left handle switch unit 73 includes a switch for switching the irradiation angle of the headlight unit 54. The right handle switch unit 74 is provided with a starter switch, an engine stop switch, and the like. The power supply from the battery to the electrical device can be started or stopped by operating various switches including a main switch (not shown). Further, the engine unit 58 can be started or stopped by a switch operation. Further, the screen of the display device 91 can be switched by a switch operation. In addition, selection items displayed on the display device 91 can be selected by a switch operation. One of a plurality of riding modes can be selected by a switch operation. The plurality of riding modes include a manual driving mode, a driving support mode, and an autonomous driving mode.

  As shown in FIG. 11, mirror stays 77La and 77Ra are provided at the front of the vehicle. As illustrated in FIG. 13, the mirror stays 77La and 77Ra are disposed on the outer top of the handle bar 71. One end of each of the mirror stays 77La and 77Ra is fixed to the handle bar 71. The mirror stays 77La and 77Ra are arranged symmetrically about the center in the left-right direction of the vehicle. Rearview mirrors 77L and 77R are attached to the other ends of the mirror stays 77La and 77Ra, respectively. The rearview mirrors 77L and 77R include mirror parts 77Lb and 77Rb, and rear cover parts 77Lc and 77Rc (see FIG. 14). The back cover portions 77Lc and 77Rc are attached to the other ends of the mirror stays 77La and 77Ra. The back cover portions 77Lc and 77Rc have shapes that protrude forward in the vehicle front-rear direction. Flat mirror portions 77Lb and 77Rb are installed on the rear side of the vehicle front-rear direction of the back cover portions 77Lc and 77Rc. The mirror portions 77Lb and 77Rb face rearward in the vehicle front-rear direction. The driver 80 can visually recognize the rear of the vehicle with the mirror parts 77Lb and 77Rb. In the rearview mirrors 77L and 77R, spaces are formed between the mirror portions 77Lb and 77Rb and the back cover portions 77Lc and 77Rc.

  As shown in FIGS. 11 and 12, the side covers 62 </ b> L and 62 </ b> R are disposed behind the head pipe 55. The side covers 62L and 62R are disposed behind the front cover 61. The side covers 62L and 62R are disposed below the seat 57. The side covers 62L and 62R cover at least a part of the vehicle body frame 51 from the side. The side covers 62L and 62R are disposed between the main tube 51a and the down tube 51b. The side covers 62L and 62R cover the suspension bracket of the vehicle body frame 51 described above.

  The rear cover 63 is provided at the rear part of the vehicle. The rear cover 63 is disposed behind the side covers 62L and 62R. The rear cover 63 is disposed below the seat 57 and behind the seat 57. The rear cover 63 is located above the rear wheel portion 53. The rear cover 63 covers a part of the vehicle body frame 51 from the rear. The rear cover 63 is supported by the vehicle body frame 51. The rear cover 63 is formed in a symmetrical shape with the center in the left-right direction of the vehicle as the center.

  A taillight 64 is attached to the rear cover 63. The taillight 64 is located at the rear of the vehicle. The surface of the taillight 64 extends obliquely rearward and upward from the lower end toward the upper end when viewed in the vehicle left-right direction. As shown in FIG. 15, the taillight 64 is disposed at the center in the left-right direction of the vehicle. The taillight 64 uses a semiconductor light source in addition to a halogen lamp. The semiconductor light source includes one or more of LED lights, semiconductor lasers, and organic EL lighting.

  As shown in FIG. 12, the rear cover 63 is provided with rear direction indicator lamp units 66L and 66R. The rear direction indicator lamp units 66L and 66R are disposed at the rear part of the rear cover 63. The rear direction indicator lamp units 66L and 66R are disposed on the left and right sides of the rear cover 63. The rear direction indicator lamp units 66L and 66R include rear direction indicator lamps 66La and 66Ra. The rear direction indicator lamps 66La and 66Ra are disposed at the rear ends of the rear direction indicator lamp units 66L and 66R. As shown in FIG. 15, the rear direction indicator lights 66La and 66Ra are arranged symmetrically about the center in the left-right direction of the vehicle. As the rear direction indicator lights 66La and 66Ra, a semiconductor light source is used in addition to a halogen lamp.

  As shown in FIGS. 11 and 12, driver rear sensing units 82L and 82R are arranged in the rear direction indicator light units 66L and 66R. The driver rear sensing units 82L and 82R sense the rear surface of the trunk of the driver 80 from the rear of the driver 80 seated on the seat 57. The driver rear sensing units 82L and 82R are, for example, compound eye cameras. The driver rear sensing units 82L and 82R include one or more of a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio wave / electric field sensor, and a magnetic sensor. The camera may be monocular. Such a radar and sensor emits millimeter waves or the like from the rear of the driver 80 toward the rear surface of the trunk of the driver 80, and receives reflected waves that are reflected back to the driver 80 and the like. It is configured. For example, the sensing range of the driver rear sensing units 82L and 82R is R22 shown in FIGS. Only one of the driver rear sensing units 82L and 82R may be disposed in the rear direction indicator light units 66L and 66R.

  The sensing range R22 of the driver rear sensing units 82L and 82R is substantially the same as the sensing range R12 of the driver rear sensing units 32L and 32R of the first embodiment, and is not illustrated. The driver rear sensing units 82L and 82R are disposed in the rear direction indicator lamp units 66L and 66R at an angle such that at least the rear surface of the trunk of the driver 80 seated on the seat 57 is included in the sensing range R22. The driver rear sensing units 82L and 82R may not be arranged at an angle such that the vertical center of the sensing range R22 is below the head of the driver 80 seated on the seat 57. The driver rear sensing units 82L and 82R may be arranged at an angle such that the center in the vertical direction of the sensing range R22 is the head of the driver 80 seated on the seat 57.

  It should be noted that the driver rear sensing units 82L and 82R are arranged on the rear direction indicator lamp units 66L and 66R at an angle such that the vertical center of the sensing range R22 is below the head of the driver 80 seated on the seat 57. May be arranged. Further, the driver rear sensing units 82L and 82R may be arranged so that the center of the sensing range R22 in the vertical direction is at least above the waist of the driver 80 seated on the seat 57. Then, the portion from the waist to the head of the driver 80 becomes the center in the vertical direction of the sensing range R22. The sensing range R22 of the driver rear sensing units 82L and 82R includes a torso below the head of the driver 80 that moves most in the left-right direction. Then, the driver rear sensing units 82L and 82R can reliably sense the operation of moving the center of gravity of the driver 80 in the left-right direction.

  A rear fender 65 is attached to the rear cover 63. The rear fender 65 is located below the taillight 64. The rear fender 65 is located above the rear wheel portion 53. The front fender 17 is disposed so as to cover the upper portion of the rear wheel portion 53.

  The motorcycle 50 includes a driver motion detection device 330 as in the first embodiment. A specific example of the control by the driver motion detection unit 310 of the driver motion detection device 330 is the same as that in the first embodiment, and a description thereof will be omitted.

  Further, like the motorcycle 1, the motorcycle 50 may be configured to be able to switch between a manual operation mode, a driving support mode, and an autonomous operation mode. Each operation mode is as described in the first embodiment, and detailed description thereof is omitted.

  When the motorcycle 50 is configured to be able to switch between the manual driving mode, the driving support mode, and the autonomous driving mode, the motorcycle 50 may include the active driving support device 320. A specific example of the control of the motorcycle 50 by the active driving support device 320 is the same as the control of the motorcycle 1 shown in FIG. 10, and the description thereof is omitted.

  As described above, in the motorcycle 50 of the second embodiment, the driver front sensing unit 81 is disposed on the meter unit 90 disposed on the upper surface of the fuel tank 59. The meter unit 90 disposed on the upper surface of the fuel tank 59 is disposed in front of the driver 80. Therefore, the driver front sensing unit 81 arranged in the meter unit 90 can sense the front surface of the trunk of the driver 80 from the front of the driver 80. The driver front sensing unit 81 can set the center of the sensing range in the vertical direction below the head of the driver 80. In addition, the driver front sensing unit 81 may include at least the front surface of the trunk of the driver 30 in the sensing range. Further, the driver front sensing unit 81 is installed in the front, can secure a longer distance to the driver's torso than the driver rear sensing units 82L and 82R, and can move the center of gravity of the torso in the left-right direction. It can be placed in a position where it can be easily sensed. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be utilized by the motorcycle 50.

  In addition, driver rear sensing units 82L and 82R are disposed in the rear direction indicator lights 66La and 66Ra. The rear direction indicator lights 66La and 66Ra are often arranged behind the driver 80. Therefore, the driver rear sensing units 82L and 82R disposed in the rear direction indicator lights 66La and 66Ra can sense the rear surface of the trunk of the driver 80 from the rear of the driver 80. The driver motion detection unit 310 can detect the motion of the trunk of the driver 80 based on the sensing results of the driver rear sensing units 82L and 82R. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be more utilized by the motorcycle 50.

  Note that the configuration of the driver motion detection device 330 is the same as that of the first embodiment, and has the same effect as the effect described in the first embodiment.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. Moreover, the example of a change mentioned later can be implemented in combination as appropriate.

  In the first and second embodiments, the motorcycles 1 and 50 are configured to be able to switch between the manual operation mode, the driving support mode, and the autonomous driving mode. However, the lean vehicle of the present invention may not be configured to be able to switch between the manual operation mode, the driving support mode, and the autonomous driving mode. And the lean vehicle of this invention does not need to be provided with an active driving assistance apparatus. In the first embodiment, the driver front sensing unit 31 and the driver rear sensing units 32L and 32R may not be included in the active driving support device 320. In the first embodiment, the sensing results of the driver front sensing unit 31 and the driver rear sensing units 32L and 32R detected by the driver motion detection unit 310 may be used for other control than driving support. . That is, the sensing results of the driver front sensing unit 31 and the driver rear sensing units 32L and 32R detected by the driver motion detection unit 310 are used for driving support control in the active driving support device 320 to the last. Only. The same applies to the second embodiment.

In the above embodiment, the operation of the driver 30 sensed by the driver front sensing unit 31 is not limited to that shown in FIG. For example, as shown in FIG. 17, the driver forward sensing unit 31 changes the center of gravity in the left-right direction (LS _F RS _F direction) of the sensing range R11 from the state of the driver 30A to the state of the driver 30B. The operation of the person 30 can be sensed. The operation of the driver 30 sensed by the driver rear sensing units 32L and 32R is not limited to that shown in FIG. For example, as shown in FIG. 18, the driver rear sensing units 32L and 32R change the center of gravity from the state of the driver 30A to the state of the driver 30B in the left-right direction (LS _F RS _F direction) of the sensing range R12. The operation of the driver 30 can be sensed.

  In the first embodiment, the driver front sensing unit 31 is disposed in the meter unit 42. However, the arrangement position of the driver front sensing unit 31 in the meter unit 42 is not limited to the arrangement position illustrated in FIG. 4. In addition, the driver front sensing unit of the present invention may be disposed at a place other than the meter unit 42. The driver front sensing unit of the present invention may be disposed in front of the driver, and may be disposed at a position where the vertical center of the sensing range is below the driver's head. In addition, the driver front sensing unit may be arranged so that at least the front surface of the torso of the driver is included in the sensing range. If the arrangement position satisfies the above, the arrangement position of the driver front sensing unit of the present invention can be freely set. Therefore, it is possible to ensure the degree of freedom of arrangement of the driver front sensing unit. Hereinafter, in the motorcycle 1 of the first embodiment, a modified example of the arrangement of the driver front sensing unit will be specifically described.

  For example, as shown by a two-dot chain line in FIG. 4, the driver front sensing unit 31 a may be arranged on the dash panel 41. In addition, the arrangement position of the driver | operator front sensing part 31a in the dash panel 41 is not limited to the position shown in FIG. The dash panel 41 is disposed in front of the driver 30. Therefore, the driver front sensing unit 31 a arranged on the dash panel 41 can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect the operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31a. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  Further, as shown by a two-dot chain line in FIG. 4, the driver front sensing unit 31 b may be disposed in the fuel tank 9. In addition, the arrangement position of the driver front sensing part 31b in the fuel tank 9 is not limited to the position shown in FIG. The fuel tank 9 is disposed in front of the driver 30. Therefore, the driver front sensing unit 31b disposed in the fuel tank 9 can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31b. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  Further, as shown by a two-dot chain line in FIG. 4, the driver front sensing unit 31 c may be disposed on the handle unit 40. In the example illustrated in FIG. 4, the driver front sensing unit 31c is a pair of driver front sensing units 31c and is disposed on each of the handlebars 48L and 48R. The driver front sensing unit 31c may be disposed on one of the handlebars 48L and 48R. In addition, the arrangement position of the driver | operator front sensing part 31c in the handle | steering-wheel part 40 is not limited to the position shown in FIG. For example, the driver front sensing unit 31c may be disposed on the handle crown 45. The handle portion 40 is disposed in front of the driver 30. Therefore, the driver front sensing unit 31 c arranged in the handle unit 40 can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect the operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31c. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  Further, as indicated by a two-dot chain line in FIG. 4, the driver front sensing unit 31d may be disposed on at least one of the rearview mirrors 11L and 11R. In the example illustrated in FIG. 4, the driver front sensing unit 31d is a pair of driver front sensing units 31d and is disposed in each of the rearview mirrors 11L and 11R. The driver front sensing unit 31d is preferably embedded in a space formed inside the rearview mirrors 11L and 11R so as not to protrude from the surfaces of the rearview mirrors 11L and 11R. Further, the arrangement position of the driver front sensing unit 31b in the rearview mirrors 11L and 11R is not limited to the position shown in FIG. The rearview mirrors 11L and 11R are disposed in front of the driver 30. Therefore, the driver front sensing unit 31d arranged in the rearview mirrors 11L and 11R can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect the operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31d. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1. Furthermore, the driver front sensing unit 31d disposed on the rearview mirrors 11L and 11R is not provided so as to protrude from the vehicle. Then, it can suppress that the driver | operator 30 etc. contact the driver | operator front sensing part 31d. Therefore, the detection accuracy and durability of the driver front sensing unit 31d can be ensured.

  Further, as indicated by a two-dot chain line in FIG. 4, the driver front sensing unit 31e may be disposed on at least one of the mirror stays 11La and 11Ra. In the example illustrated in FIG. 4, the driver front sensing unit 31e is a pair of driver front sensing units 31e and is disposed in each of the mirror stays 11La and 11Ra. The driver front sensing unit 31e is preferably embedded in a space formed inside the mirror stays 11La and 11Ra so as not to protrude from the surfaces of the mirror stays 11La and 11Ra. Further, the arrangement position of the driver front sensing unit 31e in the mirror stays 11La and 11Ra is not limited to the position shown in FIG. The mirror stays 11La and 11Ra are arranged in front of the driver 30. Therefore, the driver front sensing unit 31e disposed in the mirror stays 11La and 11Ra can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect the operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31e. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1. Furthermore, the driver front sensing part 31e arranged on the mirror stays 11La and 11Ra is not provided so as to protrude from the vehicle. Then, it can suppress that the driver | operator 30 etc. contact the driver | operator front sensing part 31e. Therefore, the detection accuracy and durability of the driver front sensing unit 31e can be ensured.

  Further, as shown by a two-dot chain line in FIG. 4, the driver front sensing unit 31 f may be arranged on the front cover 21. In the example illustrated in FIG. 4, the driver front sensing unit 31 f is a pair of driver front sensing units 31 f and is disposed on both sides of the front cover 21 in the left-right direction of the vehicle. In addition, the arrangement position of the driver | operator front sensing part 31f in the front cover 21 is not limited to the position shown in FIG. The front cover 21 is disposed in front of the driver 30. Therefore, the driver front sensing unit 31 f disposed on the front cover 21 can sense the front surface of the trunk of the driver 30 from the front of the driver 30. Then, the driver operation detection unit 310 can detect the operation of the trunk of the driver 30 based on the sensing result of the driver front sensing unit 31f. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  Further, as shown by a two-dot chain line in FIG. 3, the driver front sensing unit 31g may be disposed on at least one of the side covers 22L and 22R. In the example illustrated in FIG. 3, the driver front sensing unit 31g is a pair of driver front sensing units 31g and is disposed on each of the side covers 22L and 22R. In addition, the arrangement | positioning position of the driver front sensing part 31g in the side covers 22L and 22R is not limited to the position shown in FIG. At least a part of the side covers 22L and 22R is disposed in front of the driver 30. Therefore, the driver front sensing unit 31g disposed on the side covers 22L and 22R can sense the front surface of the trunk of the driver 30 from the front of the driver 30. And the driver | operator operation | movement detection part 310 can detect the operation | movement of the trunk | drum of the driver | operator 30 based on the sensing result of the driver | operator front sensing part 31g. Therefore, the driver motion detection device 330 can sense the motion of the driver 30 of the motorcycle 1 with an accuracy that can be utilized in the motorcycle 1.

  Note that one driver front sensing unit 31 of the first embodiment is arranged. Two or more driver front sensing units in the first embodiment may be arranged. In addition, the driver front sensing unit according to the first embodiment may be arranged by combining any two or more of the driver front sensing unit 31 and the driver front sensing units 31a to 31g. The driver front sensing units 31a to 31g include, for example, a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio wave / electric field sensor, a magnetic sensor, and a distance image sensor. Assume that there is one.

  In the first embodiment, the driver rear sensing units 32 </ b> L and 32 </ b> R are disposed on the grab bar 16. However, the arrangement positions of the driver rear sensing units 32L and 32R in the grab bar 16 are not limited to the arrangement positions shown in FIGS. For example, as shown by a two-dot chain line in FIGS. 2 and 3, the driver rear sensing unit 32a may be disposed at the center of the grab bar 16 in the left-right direction of the vehicle. Further, the driver rear sensing unit may not be disposed on the grab bar 16. The driver rear sensing unit of the present invention may be disposed behind the driver and may be disposed at a position where the sensing range includes at least the rear surface of the driver's trunk. For example, as shown by a two-dot chain line in FIG. 3, the driver rear sensing unit 32b may be disposed in the rear direction indicator lamp units 15L and 15R. Note that at least one of the driver rear sensing units 32L and 32R of the first embodiment may be arranged. In addition, two or more driver rear sensing units of the first embodiment may be arranged. For example, the driver rear sensing unit of the first embodiment may be arranged by combining any two or more of the driver rear sensing units 32L and 32R and the driver rear sensing units 32a and 32b. The driver rear sensing units 32a and 32b include, for example, a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio wave / electric field sensor, a magnetic sensor, and a distance image sensor. Assume that there is one.

  In the second embodiment, the driver front sensing unit 81 is disposed in the meter unit 90. However, the arrangement position of the driver front sensing unit 81 in the meter unit 90 is not limited to the arrangement position shown in FIGS. Further, the driver front sensing unit may not be arranged in the meter unit 90. The driver front sensing unit of the present invention may be disposed in front of the driver and may be disposed at a position where the vertical center of the sensing range is below the driver's head. In addition, the driver front sensing unit of the present invention may be arranged so that the sensing range includes at least the front surface of the torso of the driver. If the arrangement position satisfies the above, the arrangement position of the driver front sensing unit of the present invention can be freely set. Therefore, it is possible to ensure the degree of freedom of arrangement of the driver front sensing unit. For example, if the arrangement position satisfies the above, unlike the motorcycle 50 of the second embodiment, in the lean vehicle in which the meter part is provided on the upper part of the handle part, the driver front sensing part of the present invention is provided in the meter part. It may be arranged. Hereinafter, in the motorcycle 50 of the second embodiment, a modified example of the arrangement of the driver front sensing unit will be specifically described.

  For example, the driver front sensing units 81a and 81b may be disposed on the handle unit 70 as indicated by a two-dot chain line in FIGS. In the example shown in FIGS. 12 and 13, the driver front sensing unit 81 a is disposed on the handle crown 75. In addition, the arrangement | positioning position of the driver | operator front sensing part 81a in the handle | steering-wheel part 70 is not limited to the position shown in FIG. 12 and FIG. For example, the driver front sensing unit 81b may be disposed on the handle bar 71. The handle portion 70 is disposed in front of the driver 80. Therefore, the driver front sensing units 81 a and 81 b arranged on the handle unit 70 can sense the front surface of the trunk of the driver 80 from the front of the driver 80. Then, the driver operation detection unit 310 can detect the operation of the trunk of the driver 80 based on the sensing results of the driver front sensing units 81a and 81b. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be utilized by the motorcycle 50.

  For example, as indicated by a two-dot chain line in FIG. 13, the driver front sensing unit 81c may be disposed on at least one of the mirror stays 77La and 77Ra. In the example illustrated in FIG. 13, the driver front sensing unit 81c is a pair of driver front sensing units 81c and is disposed in each of the mirror stays 77La and 77Ra. The arrangement position of the driver front sensing unit 81c is not limited to the position shown in FIG. The mirror stays 77La and 77Ra are arranged in front of the driver 80. Therefore, the driver front sensing unit 81c disposed in the mirror stays 77La and 77Ra can sense the front surface of the trunk of the driver 80 from the front of the driver 80. Then, the driver operation detection unit 310 can detect the operation of the trunk of the driver 80 based on the sensing result of the driver front sensing unit 81c. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be utilized by the motorcycle 50.

  Further, as indicated by a two-dot chain line in FIG. 13, the driver front sensing unit 81d may be disposed on at least one of the rearview mirrors 77L and 77R. In the example illustrated in FIG. 13, the driver front sensing unit 81d is a pair of driver front sensing units 81d and is disposed in each of the rearview mirrors 77L and 77R. The driver front sensing part 81d may be disposed in a space formed inside the rearview mirrors 77L and 77R so as not to protrude from the surfaces of the rearview mirrors 77L and 77R. Further, the arrangement position of the driver front sensing unit 81d in the rearview mirrors 77L and 77R is not limited to the position shown in FIG. The rearview mirrors 77L and 77R are disposed in front of the driver 80. Therefore, the driver front sensing unit 81d arranged in the rearview mirrors 77L and 77R can sense the front surface of the trunk of the driver 80 from the front of the driver 80. The driver motion detection unit 310 can detect the motion of the trunk of the driver 80 based on the sensing result of the driver forward sensing unit 81d. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be utilized in a lean vehicle. Furthermore, the driver front sensing portion 81d disposed on the rearview mirrors 77L and 77R is not provided so as to protrude from the vehicle. Therefore, the driver 80 and the like can be prevented from contacting the driver forward sensing unit 81d. Therefore, the detection accuracy and durability of the driver front sensing unit 81d can be ensured.

  Further, as shown by a two-dot chain line in FIG. 13, the driver front sensing unit 81 e may be arranged in the fuel tank 59. The arrangement position of the driver front sensing part 81e in the fuel tank 59 is not limited to the position shown in FIG. The fuel tank 59 is disposed in front of the driver 80. Therefore, the driver front sensing unit 81e disposed in the fuel tank 59 can sense the front surface of the trunk of the driver 80 from the front of the driver 80. Then, the driver operation detection unit 310 can detect the operation of the trunk of the driver 80 based on the sensing result of the driver front sensing unit 81e. Therefore, the driver motion detection device 330 can sense the motion of the driver 80 of the motorcycle 50 with an accuracy that can be utilized by the motorcycle 50.

  Note that one driver forward sensing unit 81 of the second embodiment is arranged. Two or more driver front sensing units according to the second embodiment may be arranged. Further, the driver front sensing unit according to the second embodiment may be arranged by combining any one or more of the driver front sensing unit 81 and the driver front sensing units 81a to 81e. The driver front sensing units 81a to 81e are, for example, cameras, millimeter wave radars, microwave radars, laser radars, ultrasonic sensors, acoustic sensors, infrared sensors, radio wave / electric field sensors, magnetic sensors, and distance image sensors. Assume that there is one.

  In the second embodiment, the driver rear sensing units 82L and 82R are arranged in the rear direction indicator lamp units 66L and 66R. However, the arrangement positions of the driver rear sensing units 32L and 32R in the rear direction indicator lamp units 66L and 66R are not limited to the arrangement positions shown in FIGS. Further, the driver rear sensing unit may not be disposed in the rear direction indicator light units 66L and 66R. The driver rear sensing unit may be disposed behind the driver 80 and disposed at a position where the sensing range includes at least the rear surface of the torso of the driver 80. For example, as shown by a two-dot chain line in FIG. 12, the driver rear sensing unit 82 a may be disposed on the rear cover 63. One of the driver rear sensing units 82L and 82R of the second embodiment may be arranged. In addition, two or more driver rear sensing units of the second embodiment may be arranged. For example, the driver rear sensing unit may be arranged by combining any two or more of the driver rear sensing units 82L and 82R and the driver rear sensing unit 82a. The driver rear sensing unit 82a is, for example, one of a camera, a millimeter wave radar, a microwave radar, a laser radar, an ultrasonic sensor, an acoustic sensor, an infrared sensor, a radio wave / electric field sensor, a magnetic sensor, and a distance image sensor. Suppose that

  In the modification of the first embodiment and the second embodiment, the driver front sensing unit is such that the vertical center of the sensing range is below the heads of the drivers 30, 80 seated on the seats 8, 57. The motorcycle 1 and 50 are arranged at an angle. The driver front sensing unit of the modified example is similar to the driver front sensing units 31 and 81 of the first and second embodiments, and the vertical center of the sensing range is at least the waist of the driver 80 seated on the seats 8 and 57. It is preferable to arrange so as to be higher. Then, the portion from the waist of the drivers 30 and 80 to the lower part of the head becomes the center in the vertical direction of the sensing range. The sensing range of the driver front sensing unit of the modified example includes a trunk part below the heads of the drivers 30 and 80 that moves most in the left-right direction. And the driver | operator front sensing part of a modification can sense the operation | movement which moves the gravity center of the drivers | operators 30 and 80 to the left-right direction reliably.

  Furthermore, similarly to the driver front sensing units 31 and 81 of the first and second embodiments, the driver front sensing unit of the modified example may include the heads of the drivers 30 and 80 in the sensing range. In the operation of moving the centers of gravity of the drivers 30 and 80 slightly in the left-right direction, the heads of the drivers 30, 80 also move in the left-right direction. Therefore, the driver front sensing unit according to the modified example can more reliably sense the operation of moving the center of gravity of the drivers 30 and 80 in the left-right direction. However, the amount of movement of the heads of the drivers 30 and 80 in the left-right direction is smaller than the amount of movement of the torso of the driver 30 in the left-right direction.

  In the modification of the first embodiment and the second embodiment, the driver rear sensing unit is such that the vertical center of the sensing range is below the heads of the drivers 30, 80 seated on the seats 8, 57. The motorcycle 1 or 50 may be arranged at an angle. In addition, the driver rear sensing unit of the modified example is seated on the seats 8 and 57 at the center in the vertical direction of the sensing range, similarly to the driver rear sensing units 32L, 32R, 82L, and 82R of the first and second embodiments. The driver 80 may be disposed so as to be at least above the waist. Then, the portion from the waist of the drivers 30 and 80 to the lower part of the head becomes the center in the vertical direction of the sensing range. The sensing range of the driver rear sensing unit of the modified example includes a trunk part below the heads of the drivers 30 and 80 that moves most in the left-right direction. And the driver | operator rear sensing part of a modification can sense the operation | movement which moves the gravity center of the drivers | operators 30 and 80 in the left-right direction reliably.

  In the first embodiment and the modification of the first embodiment, the driver front sensing units 31, 31a to 31g and the driver rear sensing units 32L, 32R, 32a, 32b may be arranged with transparent resin or the like in front. preferable. The same applies to the driver front sensing units 81, 81a to 81e and the driver rear sensing units 82L, 82R, 82a in the second embodiment and the modified example of the second embodiment. It is possible to prevent the driver front sensing unit and the driver rear sensing unit from becoming dirty. In addition, when the driver front sensing unit and the driver rear sensing unit are radars or sensors other than cameras, the driver front sensing unit itself may be arranged in a state where the driver front sensing unit itself is not visually recognized. Specifically, the driver front sensing unit 31 f may be disposed on the back surface of the front cover 21. The driver rear sensing unit 82 a may be disposed on the back surface of the rear cover 63.

  Further, the driver front sensing unit of the present invention is disposed in front of the driver, is disposed at a position where the vertical center of the sensing range is below the head of the driver, and at least the torso of the driver is in the sensing range. If it is arranged so as to include the front surface of the part, it may be arranged on the seat of the lean vehicle.

  Further, the driver rear sensing unit of the present invention is disposed on the rear of the driver, and is disposed on the seat of the lean vehicle if the sensing range is disposed at a position where at least the rear surface of the driver's trunk is included. Also good.

  In the first and second embodiments, the driver rear sensing units 32L and 32R and the driver rear sensing units 82L and 82R may not be arranged.

  The method of controlling the motorcycle 1 so as to actively support the driver by the active driving support device 320 is not limited to the inter-vehicle distance control device (ACC: Adaptive Cruise Control) described in the first embodiment. The active driving support device of the present invention may be any active driving support device as long as it is an active driving support device that supports a driver of a lean vehicle. It may be an active driving assistance device provided with a so-called advanced driver assistance system (ADAS). As a more specific example, for example, it may be an active driving support device provided with a skid prevention device (ESC: Electronic Stability Control). Further, for example, an active driving assistance device including a lane departure prevention system (Lane Keeping Assist System) may be used. The same applies to the second embodiment.

In the first and second embodiments, the motorcycles 1 and 50 include the front wheel portions 2 and 52 including one front wheel at the front portion of the vehicle. The motorcycles 1 and 50 are provided with rear wheel parts 3 and 53 including one rear wheel at the rear part of the vehicle. However, the lean vehicle of the present invention may be provided with two or more front wheels at the front of the vehicle. In the lean vehicle of the present invention, two or more rear wheels may be provided at the rear of the vehicle.
When there are two or more front wheels, the active driving support control unit may move the lean vehicle in the left-right direction by controlling the driving force of the front wheels on the left and right sides. When there are two or more rear wheels, the active driving support control unit may move the lean vehicle in the left-right direction by controlling the driving force of the left and right rear wheels.

  In the said Embodiment 1, 2, the motorcycles 1 and 50 were illustrated as a lean vehicle. However, the lean vehicle of the present invention is any lean vehicle as long as it has a vehicle body frame that leans to the right in the vehicle left-right direction when turning right and leans to the left in the vehicle left-right direction when turning left. It may be. The lean vehicle of the present invention may be a straddle-type vehicle other than a motorcycle. Saddle-type vehicles refer to all vehicles that ride in a state in which an occupant straddles a saddle. The saddle riding type vehicle includes a motorcycle (including a scooter), a tricycle and the like. The lean vehicle of the present invention may not be a straddle type vehicle.

  The present invention is any implementation including equivalent elements, modifications, deletions, combinations (eg, combinations of features across various embodiments), improvements, and / or changes that may be recognized by one of ordinary skill in the art based on the disclosure herein. It includes forms. Claim limitations should be construed broadly based on the terms used in the claims. Claim limitations should not be limited to the embodiments described herein or in the process of this application. Such an embodiment should be construed as non-exclusive. For example, in the present specification, the terms “preferred” and “good” are non-exclusive, and “preferably but not limited to” or “good but not limited thereto”. "Means.

1, 50 Motorcycles (lean vehicles)
2, 52 Front wheel portion 3, 53 Rear wheel portion 4, 55 Head pipe 4a, 55a Steering shaft 7, 51 Car body frame 8, 57 Seat 9, 59 Fuel tank 11La, 11Ra, 77La, 77Ra Mirror stay 11L, 11R, 77L, 77R Rearview mirror 16 Grab bars 18L, 18R, 68L, 68R Front fork 20, 60 Car body cover 21, 61 Front cover 22L, 22R, 62L, 62R Side cover 23, 63 Rear cover 30, 80 Drivers 31, 31a, 31b, 31c, 31d, 31e, 31f, 31g, 81, 81a, 81b, 81c, 81d, 81e Driver front sensing part 32L, 32R, 32a, 32b, 82L, 82R, 82a Driver rear sensing part 40, 70 Handle part 41 Dash panel 42 90 meter unit 43L, 43R, 72L, 72R grip portion 309 actively driving support control unit 310 operated vehicle movement detection unit 330 the driver operation detection device

Claims (14)

A vehicle body frame that leans to the right in the vehicle left-right direction when turning right, and leans to the left in the vehicle left-right direction when turning left;
A seat supported by the body frame;
A front wheel portion that includes at least one front wheel, is supported by the body frame, and is disposed at least partially in front of the seat in the vehicle front-rear direction;
A rear wheel portion including at least one rear wheel, supported by the vehicle body frame, and disposed at least partially behind the seat in the vehicle front-rear direction;
A driver operation detecting device for detecting the operation of the driver seated on the seat, and
The driver motion detection device is
Arranged in front of the driver, the vertical center of the sensing range is below the driver's head, and the sensing range includes at least the front of the torso of the driver, At least one driver forward sensing unit for sensing the driver;
A lean vehicle, comprising: a driver operation detection unit that detects an operation of a torso of the driver based on a sensing result by the driver front sensing unit. The driver motion detection device is disposed behind the driver and senses the driver such that at least a rear surface of the torso of the driver is included in the sensing range. At least one driver rear sensing Part,
The driver operation detection unit detects an operation of a driver's trunk based on a sensing result by the driver front sensing unit and a sensing result by the driver rear sensing unit. Item 2. The lean vehicle according to item 1. A head pipe provided at a front portion of the vehicle body frame;
A steering shaft rotatably inserted into the head pipe;
A front fork connected to the steering shaft and supporting the front wheel from at least the left or right side in the vehicle left-right direction;
A handle portion having a pair of grip portions connected to the steering shaft,
The lean vehicle according to claim 1 or 2, wherein the driver forward sensing unit is disposed on the head pipe or the handle unit. A mirror stay provided at the front of the vehicle;
A rearview mirror attached to the mirror stay,
The lean vehicle according to claim 1 or 2, wherein the driver front sensing unit is disposed on the mirror stay or the rearview mirror. A head pipe provided at a front portion of the vehicle body frame;
A front cover that covers at least a part of the head pipe from the front of the head pipe;
The lean vehicle according to claim 1, wherein the driver front sensing unit is disposed on the front cover. A head pipe provided at a front portion of the vehicle body frame;
A side cover that is arranged at least partially behind the head pipe and covers at least a part of the body frame from the side, and
The lean vehicle according to claim 1, wherein the driver front sensing unit is disposed on the side cover. A fuel tank provided above the vehicle body frame,
The lean vehicle according to claim 1, wherein the driver front sensing unit is disposed in the fuel tank. A fuel tank provided above the vehicle body frame,
The fuel tank has a meter portion disposed on an upper surface thereof;
The lean vehicle according to claim 1 or 2, wherein the driver forward sensing unit is disposed in the meter unit. A head pipe provided at a front portion of the vehicle body frame;
A steering shaft rotatably inserted into the head pipe;
A front fork connected to the steering shaft and supporting the front wheel from at least the left or right side in the vehicle left-right direction;
A handle portion having a pair of grip portions connected to the steering shaft;
A meter part installed on the upper part of the handle part,
The lean vehicle according to claim 1 or 2, wherein the driver forward sensing unit is disposed in the meter unit. A head pipe provided at a front portion of the vehicle body frame;
A front cover covering at least a part of the head pipe from the front of the head pipe;
A dash panel provided at the rear of the front cover, and at least part of which is provided in front of the head pipe, and on which a meter unit is disposed,
The lean vehicle according to claim 1 or 2, wherein the driver forward sensing unit is disposed on the dash panel. A rear cover that is disposed at the rear of the seat and covers at least a part of the vehicle body frame from the rear;
The lean vehicle according to claim 2, wherein the driver rear sensing unit is disposed on the rear cover. A vehicle body cover covering at least a part of the vehicle body frame;
A rear direction indicator lamp unit provided at a rear portion of the vehicle body cover and provided in a pair on both sides of the vehicle body cover in the left-right direction of the vehicle,
The lean vehicle according to claim 2, wherein the driver rear sensing unit is disposed in the rear direction indicator light unit. A grab bar supported by the vehicle body frame and provided at least at a rear part of the seat;
The lean vehicle according to claim 2, wherein the driver rear sensing unit is disposed on the grab bar. The active driving support control part which controls the said vehicle so that a driver | operator may be actively supported according to the detection result of the said driver operation | movement detection part is further provided, The any one of Claims 1-13 characterized by the above-mentioned. A lean vehicle according to claim 1.

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