JP2020090203A - Processing device and processing method for warning system of saddle-riding type vehicle, warning system of saddle-riding type vehicle and saddle-riding type vehicle - Google Patents

Abstract

To provide a processing device and a processing method, a warning system and a saddle-riding type vehicle which can make both improvement in safety and improvement in comfort of a rider compatible.SOLUTION: A processing device (20) comprises: an acquisition part that acquires surrounding environment information corresponding to output of a surrounding environment detection device (11) during travelling of a saddle-riding type vehicle (100); a determination part that determines necessities for warning operation to a rider that a warning system (1) is made to perform; and a control part that makes a notification device (30) execute the warning operation when the determination part determines that the warning operation is necessary. The acquisition part further acquires determination reference setting information corresponding to output of an input device (13) that is controlled by a rider, and the determination part determines the necessities for the warning operation on the basis of the surrounding environment information and the determination reference setting information.SELECTED DRAWING: Figure 1

Description

The present invention uses a surrounding environment detection device provided in a straddle-type vehicle to determine the necessity of a warning operation for a rider, and when necessary, a processing device of a warning system and a warning system. The present invention relates to a processing method, a warning system including the processing device, and a saddle-ride type vehicle including the warning system.

As a technology related to the saddle riding type vehicle, the surrounding environment detecting device provided in the saddle riding type vehicle is used to acquire the surrounding environment information of the saddle riding type vehicle while the vehicle is running, and the rider is informed according to the surrounding environment information. A warning system for warning is known (for example, refer to Patent Document 1).

JP, 2009-116882, A

Unlike other vehicles (automobiles, etc.), saddle-ride type vehicles expose the rider's body, and a small trigger causes a fall, so compared to other vehicles (automobiles, etc.), There are many situations in which the surrounding environment should warn the rider. However, if the warning operation is simply executed in all of these phases, the rider's comfort is impaired.

The present invention has been made in view of the above problems, and provides a processing device and a processing method capable of achieving both improved safety and comfort of a rider. In addition, a warning system including the processing device is obtained. Moreover, a straddle-type vehicle equipped with the warning system is obtained.

A processing device according to the present invention is a processing device for a warning system for a straddle-type vehicle, wherein the output of an ambient environment detection device provided in the saddle-ride type vehicle while the saddle-ride type vehicle is running. And a determination unit that determines the necessity of warning operation for the rider to be generated in the warning system based on the output of the acquisition unit, and the warning operation in the determination unit. When it is determined that is necessary, a control unit that causes the notification device to execute the warning operation, and the acquisition unit further corresponds to the output of the input device operated by the rider, Acquires the determination standard setting information that is the information of the setting state by the rider of the determination standard of the necessity of the warning operation, the determination unit, based on the surrounding environment information and the determination reference setting information, the warning operation of Determine the need.

Further, a warning system according to the present invention includes the above processing device, the surrounding environment detection device, and the input device.

A straddle-type vehicle according to the present invention includes the above warning system.

Further, a processing method according to the present invention is a processing method for a warning system for a saddle-ride type vehicle, wherein the acquisition unit of the processing device of the warning system allows the saddle-ride type vehicle to travel while the saddle-ride type vehicle is running. An acquisition step of acquiring ambient environment information according to the output of the ambient environment detection device provided in the type vehicle, and a determination unit of the processing device, based on the output of the acquisition unit, the rider causing the warning system to generate. A determination step of determining the necessity of a warning operation to the notification device, and a control unit for causing the notification device to execute the warning operation when the control unit of the processing device determines that the warning operation is necessary. In the acquisition step, the acquisition unit further includes a setting state by the rider of a determination criterion of necessity of the warning operation according to an output of an input device operated by the rider. The determination reference setting information, which is information, is acquired, and in the determination step, the determination unit determines the necessity of the warning operation based on the surrounding environment information and the determination reference setting information.

In the processing device, the warning system, the straddle-type vehicle, and the processing method according to the present invention, the necessity of the warning operation includes the surrounding environment information and the determination reference setting information according to the output of the input device operated by the rider. , Is determined based on. Therefore, the rider can arbitrarily set the surrounding environment where a warning is given to the rider, and it is possible to improve the safety and comfort of the rider at the same time.

It is a figure which shows the mounting state in the saddle type vehicle of the warning system which concerns on Embodiment 1 of this invention. It is a figure which shows the system configuration of the warning system which concerns on Embodiment 1 of this invention. It is a figure which shows the operation|movement flow of the processing apparatus of the alert system which concerns on Embodiment 1 of this invention. It is a figure which shows the operation|movement flow of the processing apparatus of the warning system which concerns on Embodiment 2 of this invention.

Hereinafter, a processing device, a warning system, a straddle-type vehicle, and a processing method according to the present invention will be described with reference to the drawings.

Note that the configurations, operations, and the like described below are examples, and the processing device, the warning system, the saddle-ride type vehicle, and the processing method according to the present invention are not limited to such configurations, operations, and the like. ..

For example, the case where the warning system according to the present invention is used in a motorcycle is described below, but the warning system according to the present invention may be used in a saddle-ride type vehicle other than the motorcycle. .. The saddle type vehicle means all vehicles on which a rider rides. The saddle-ride type vehicle includes a motorcycle (motorcycle, motorcycle), a buggy, a bicycle and the like. The motorcycle includes a motorcycle or a three-wheeled vehicle having an engine as a propulsion source, a motorcycle or a three-wheeled vehicle having a motor as a propulsion source, and includes, for example, a motorcycle, a scooter, an electric scooter, or the like. Further, the bicycle means all vehicles that can be propelled on the road by the pedaling force of the rider applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.

Further, in the following, the same or similar description is appropriately simplified or omitted. Further, in each drawing, the same or similar parts are designated by the same reference numerals. Further, for the fine structure, the illustration is appropriately simplified or omitted.

Embodiment 1.
The warning system according to the first embodiment will be described below.

<Configuration of warning system>
The configuration of the warning system according to the first embodiment will be described.
FIG. 1 is a diagram showing a mounting state of a warning system according to a first embodiment of the present invention on a saddle type vehicle. FIG. 2 is a diagram showing a system configuration of the warning system according to the first embodiment of the present invention.

As shown in FIGS. 1 and 2, the warning system 1 is mounted on a saddle type vehicle 100. The warning system 1 includes at least a surrounding environment detection device 11 that detects a surrounding environment in front of the saddle riding type vehicle 100, a running state detection device 12 that detects a running state of the saddle riding type vehicle 100, and an input operated by a rider. The device 13, the processing device (ECU) 20, and the notification device 30 are included.

The warning system 1 uses the surrounding environment detection device 11 to recognize the possibility of a collision in front of the straddle-type vehicle 100 that is running, and uses the notification device 30 to output a warning to the rider. The processing device 20 acquires the output of the surrounding environment detection device 11, the output of the traveling state detection device 12, and the output of the input device 13, and outputs a control command to the notification device 30. The processing device 20 is also supplied with outputs of various detection devices (not shown) for detecting other information (for example, information on the brake operation state by the rider, information on the accelerator operation state by the rider, etc.). Each part of the warning system 1 may be used exclusively for the warning system 1 or may be shared with another system.

The ambient environment detection device 11 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like, and detects the distance and the direction of an object within the detection range with respect to the saddle riding type vehicle 100 while the saddle riding type vehicle 100 is running. Always detect. The surrounding environment detection device 11 may be fixed to a portion of the saddle-ride type vehicle 100 that does not turn together with the bar handle. The object may be an obstacle (for example, a vehicle, a guardrail, a wall, a person, etc.) or a vehicle traveling in the same lane.

The traveling state detection device 12 is, for example, a wheel speed sensor, an inertial sensor (IMU), or the like, and, for example, the speed, acceleration, roll angle, etc. occurring in the saddle riding type vehicle 100 while the saddle riding type vehicle 100 is running. To detect.

The input device 13 is operated by the rider, and includes a user interface for the rider to set a determination reference used in determining the necessity of the warning operation in the warning system 1. The rider may enter a value as a criterion through the user interface, a range as a criterion through the user interface, or the user interface for the setting. The mode may be switched to change the determination criterion. The input device 13 may be fixed around the bar handle of the straddle-type vehicle 100. In addition, the input device 13 may be provided in equipment that accompanies the saddle riding type vehicle 100 such as the helmet 101.

The processing device 20 includes an acquisition unit 21, a determination unit 22, and a control unit 23. The respective units of the processing device 20 may be collectively provided in one housing, or may be provided separately in a plurality of housings. Further, a part or all of the processing device 20 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, or may be configured by an updatable device such as firmware, and a command from a CPU or the like. It may be a program module or the like executed by.

The acquisition unit 21 acquires ambient environment information, which is information on the ambient environment in front of the saddle type vehicle 100, based on the output of the ambient environment detection device 11 while the saddle type vehicle 100 is traveling. Further, the acquisition unit 21 acquires traveling state information, which is information on the traveling state of the saddle type vehicle 100, based on the output of the traveling state detection device 12 while the saddle type vehicle 100 is traveling. In addition, the acquisition unit 21 acquires, based on the output of the input device 13, the determination reference setting information that is the information on the setting state by the rider of the determination reference of the necessity of the warning operation.

The determination unit 22 identifies the traveling direction of the saddle riding type vehicle 100 from the traveling state information acquired by the acquisition unit 21, and determines the possibility of collision located in the traveling direction from the surrounding environment information acquired by the acquisition unit 21. Identify the object to be judged. Then, the determination unit 22 derives the index value I of the possibility of collision of the saddle riding type vehicle 100 with respect to the object for each specified object. The determination unit 22 determines whether or not the derived index value I exceeds the reference value for each identified object, and thus whether or not there is an object with a high possibility of collision in the traveling direction of the saddle riding type vehicle 100. To determine.

The index value I may be the reciprocal of the relative distance Dr of the object with respect to the saddle riding type vehicle 100, or may be the relative velocity Vr of the object with respect to the saddle riding type vehicle 100. The relative acceleration Ar of the object with respect to the vehicle 100 may be used, or a combination thereof may be used. For example, the index value I is a value defined by the following formula 1 or formula 2. Further, for example, the index value I may be the degree of change in the relative distance Dr in a situation where the reciprocal of the relative distance Dr is large. The degree of change may be the time during which the amount of change in the relative distance Dr is maintained below the reference amount, or the amount of change in the relative distance Dr at the reference time. The larger the index value I, the higher the possibility of collision.

Note that the determination unit 22 does not specify the traveling direction of the saddle riding type vehicle 100, but simply determines the possibility of collision located within the detection range of the surrounding environment detection device 11, that is, in front of the saddle riding type vehicle 100. An object to be identified may be specified, and a collision possibility index value I for the object may be derived. That is, "front" in the present invention is defined as the entire detection range of the surrounding environment detection device 11, and a warning operation using "possibility of a straddle-type vehicle colliding with an object located in front" in the present invention is necessary. The determination of the sex is defined as a concept including determination of the necessity of the warning operation using the possibility of the straddle-type vehicle 100 colliding with an object located in the traveling direction.

The determination unit 22 also sets the determination standard using the determination standard setting information acquired by the acquisition unit 21. Then, the determination unit 22 determines the necessity of the warning operation by determining whether the traveling state information acquired by the acquisition unit 21 satisfies the determination criterion.

That is, the determination unit 22 determines that there is an object having a high possibility of collision in the traveling direction of the straddle-type vehicle 100, and the traveling state information acquired by the acquisition unit 21 is the determination reference setting information acquired by the acquisition unit 21. It is determined that the warning operation is necessary when the determination criterion set by using the above is satisfied, and it is determined that the warning operation is not required when at least one of them is not satisfied. When the determination unit 22 determines that the warning operation is necessary, the control unit 23 causes the notification device 30 to execute the warning operation.

As an example, the determination standard setting information includes the lower limit value of the vehicle speed as the determination standard of the necessity of the warning operation, and the determination unit 22 determines that the vehicle speed occurring in the running saddle type vehicle 100 has the lower limit value. If it does not fall below (that is, the determination criterion is satisfied), it is determined that the warning operation is necessary, and the vehicle speed occurring in the running saddle type vehicle 100 is below the lower limit value (that is, the determination criterion is not satisfied). In this case, it is determined that the warning operation is unnecessary. The vehicle speed itself may be compared with the limit value, or another physical quantity that can be substantially converted into the vehicle speed may be compared with the limit value.

Further, as another example, the determination standard setting information includes the upper limit value of the vehicle speed as the determination standard of the necessity of the warning operation, and the determination unit 22 determines that the vehicle speed generated in the running saddle-ride type vehicle 100. When the upper limit value is not exceeded (that is, the determination criterion is satisfied), it is determined that the warning operation is necessary, and the vehicle speed occurring in the running saddle type vehicle 100 exceeds the upper limit value (that is, the determination If the criterion is not satisfied), it is determined that the warning operation is unnecessary. The vehicle speed itself may be compared with the limit value, or another physical quantity that can be substantially converted into the vehicle speed may be compared with the limit value.

As another example, the determination standard setting information includes the upper limit value of deceleration as the determination standard for the necessity of the warning operation, and the determination unit 22 determines that the saddle-ride type vehicle 100 is running. When the speed does not exceed the upper limit value (that is, the determination criterion is satisfied), it is determined that the warning operation is necessary, and the deceleration occurring in the running saddle type vehicle 100 exceeds the upper limit value ( That is, when the determination criterion is not satisfied), it is determined that the warning operation is unnecessary. The deceleration itself may be compared with the limit value, and another physical quantity that can be substantially converted into the deceleration may be compared with the limit value.

In addition, as another example, the determination standard setting information includes the upper limit value of the roll angle as the determination standard of the necessity of the warning operation, and the determination unit 22 causes the rolling generated in the running saddle-ride type vehicle 100. If the angle does not exceed the upper limit value (that is, the criterion is satisfied), it is determined that the warning operation is necessary, and the roll angle generated in the running saddle type vehicle 100 exceeds the upper limit value ( That is, when the determination criterion is not satisfied), it is determined that the warning operation is unnecessary. The roll angle itself may be compared with the limit value, or another physical quantity that can be substantially converted into the roll angle may be compared with the limit value.

In addition, as another example, the determination criterion setting information includes an upper limit value of the deviation angle of the traveling direction with respect to the straight traveling direction as the determination criterion of the necessity of the warning operation, and the determination unit 22 determines that the straddle-type vehicle is running. When the deviation angle of the traveling direction with respect to the straight traveling direction of 100 does not exceed the upper limit value (that is, the determination criterion is satisfied), it is determined that the warning operation is necessary, and the saddle-ride type vehicle 100 is running. If the deviation angle of the traveling direction with respect to the straight traveling direction exceeds the upper limit value (that is, the determination criterion is not satisfied), it is determined that the warning operation is unnecessary. The deviation angle of the traveling direction with respect to the straight traveling direction itself may be compared with the limit value, or another physical quantity that can be substantially converted into the deviation angle of the traveling direction with respect to the straight traveling direction may be compared with the limit value. .. Further, the shift angle may be acquired based on the map information.

The notification device 30 may be a device that warns the rider with a sound (that is, a perception that the auditory sense is used as a sensory organ), or a notification (that is, a perception that the visual aid is used as a sensory instrument) to the rider. It may be a warning, a warning to the rider by vibration (that is, the perception that the tactile device is used as a sensory device), or a combination thereof. Good. Specifically, the notification device 30 is a speaker, a display, a lamp, a vibrator, or the like, and may be provided in the saddle-ride type vehicle 100. In addition, a device attached to the saddle-ride type vehicle 100 such as the helmet 101 may be provided. It may be provided. In addition, the notification device 30 may be configured with one output device, or may be configured with a plurality of output devices of the same type or different types. The plurality of output devices may be provided integrally or separately.

<Operation of warning system>
The operation of the warning system according to the first embodiment will be described.
FIG. 3 is a diagram showing an operation flow of the processing device of the warning system according to the first embodiment of the present invention.

The processing device 20 repeatedly executes the operation flow shown in FIG. 3 while the saddle riding type vehicle 100 is traveling.

(Acquisition step)
In step S101, the acquisition unit 21 acquires the surrounding environment information according to the output of the surrounding environment detection device 11. The acquisition unit 21 also acquires the traveling state information according to the output of the traveling state detection device 12. The acquisition unit 21 also acquires determination criterion setting information according to the output of the input device 13.

(Judgment step)
In step S102, the determination unit 22 determines whether or not there is an object with a high possibility of collision in the traveling direction or in front of the saddle riding type vehicle 100 based on the information acquired in step S101. If Yes, the process proceeds to step S103, and if No, the process returns to step S101.

In step S103, the determination unit 22 determines whether or not the traveling state information acquired in step S101 satisfies the determination standard set using the determination standard setting information acquired in step S101. If Yes, the process proceeds to step S104, and if No, the process proceeds to step S105.

(Control step)
In step S104, the control unit 23 causes the notification device 30 to perform a warning operation, and in step S105, the control unit 23 does not operate the notification device 30.

In step S105, a notification operation may be executed that is less perceptible to the rider than the warning operation executed in step S104. The notification operation may be a notification operation that does not impair the rider's comfort. For example, in step S105, compared to the warning operation executed in step S104, weak sound, display, vibration, etc. may be output, and long cycle sound, display, vibration, etc. may be output. Alternatively, a notification operation for different sensory organs having low perceptibility may be executed.

<Effect of warning system>
The effect of the warning system according to the first embodiment will be described.
The processing device 20 causes the warning system 1 to generate based on the output of the acquisition unit 21 and the acquisition unit 21 that acquires the surrounding environment information according to the output of the surrounding environment detection device 11 while the straddle-type vehicle 100 is traveling. A determination unit 22 that determines the necessity of a warning operation for the rider, and a control unit 23 that causes the notification device 30 to perform a warning operation when the determination unit 22 determines that a warning operation is necessary are provided. The obtaining unit 21 further obtains determination reference setting information, which is information on the setting state by the rider of the determination reference of necessity of the warning operation, according to the output of the input device 13 operated by the rider, and the determination unit 22 Determines the necessity of the warning operation based on the surrounding environment information and the determination standard setting information. Therefore, the rider can arbitrarily set the surrounding environment where a warning is given to the rider, and it is possible to improve the safety and comfort of the rider at the same time.

Preferably, the surrounding environment information is information on the surrounding environment in front of the saddle riding type vehicle 100, and the determination unit 22 determines the possibility of collision of the saddle riding type vehicle 100 with an object located in front of the saddle riding type vehicle 100. The index value I is used to determine the necessity of the warning operation. Since the rider is more likely to pay attention to the front side than to the side or the rear side, in a collision with an object located in the front side, a situation where the rider does not need the warning operation is likely to occur. Therefore, the above-described configuration is particularly useful in a situation where a collision with an object located in front is warned.

In particular, the collision possibility index value I changes according to at least one of the relative distance Dr, the relative speed Vr, and the relative acceleration Ar of the saddle riding type vehicle 100 with respect to an object located in front of the saddle riding type vehicle 100. Good value. With such a configuration, the determination of the necessity of the warning operation is ensured.

In particular, the determination standard setting information includes information on the lower limit value of the vehicle speed that is set by the rider as the determination standard of the necessity of the warning operation, and the determination unit 22 determines that the vehicle speed that is occurring in the running saddle-ride type vehicle 100. It is preferable to determine that the warning operation is unnecessary when is less than the lower limit value of the vehicle speed as the determination reference. In a situation where the vehicle speed is low, that is, in a situation where the rider can easily avoid an object located in front, the necessity of the warning operation tends to be felt differently for each rider. Therefore, since the rider can set the lower limit value of the vehicle speed at which the warning operation is executed, the rider's comfort is particularly improved.

In particular, the determination standard setting information includes information on the upper limit value of deceleration set by the rider as the determination standard of the necessity of the warning operation, and the determination unit 22 is generated in the running saddle type vehicle 100. It may be determined that the warning operation is not necessary when the deceleration exceeds the upper limit value of the deceleration as the determination standard. In a situation where deceleration is occurring to some extent, that is, in a situation where the rider can easily avoid an object located in front, the necessity of the warning operation tends to be felt differently for each rider. Therefore, since the rider can set the upper limit value of the deceleration at which the warning operation is executed, the rider's comfort is particularly improved.

Preferably, the determination standard setting information includes information on the upper limit value of the vehicle speed set by the rider as the determination standard of the necessity of the warning operation, and the determination unit 22 is generated in the running saddle type vehicle 100. It is determined that the warning operation is unnecessary when the vehicle speed exceeds the upper limit value of the vehicle speed as the determination standard. In a situation where the vehicle speed is high, that is, a situation where the rider's concentration on driving increases, the necessity of the warning operation tends to be felt differently for each rider. Therefore, since the rider can set the upper limit value of the vehicle speed at which the warning operation is executed, the improvement of the rider's comfort is particularly promoted.

Preferably, the determination criterion setting information includes information on the upper limit value of the roll angle, which is set by the rider as the determination criterion of the necessity of the warning operation, and the determination unit 22 causes the saddle riding type vehicle 100 running. When the existing roll angle exceeds the upper limit value of the roll angle as the criterion, it is determined that the warning operation is unnecessary. In a situation where the roll angle is large, that is, a situation where the rider's concentration on driving is high, the necessity of the warning operation tends to be felt differently for each rider. Therefore, since the rider can set the upper limit value of the roll angle at which the warning operation is executed, the rider's comfort is particularly improved.

Preferably, the determination standard setting information includes information on an upper limit value of a deviation angle of a traveling direction with respect to a straight traveling direction, which is set by a rider as a determination standard of necessity of warning operation, and the determination unit 22 determines that the saddle during traveling is It is determined that the warning operation is unnecessary when the deviation angle occurring in the type vehicle 100 exceeds the upper limit value of the deviation angle as the determination reference. In a situation where the deviation angle of the traveling direction from the straight traveling direction is large, that is, in a situation where the rider's concentration on driving is high, the necessity of the warning operation tends to be felt differently for each rider. Therefore, since the rider can set the upper limit value of the deviation angle at which the warning operation is executed, the rider's comfort is particularly improved.

Preferably, the control unit 23 does not operate the notification device 30 when the determination unit 22 determines that the warning operation is unnecessary. With such a configuration, the rider's comfort is improved.

Preferably, when the determination unit 22 determines that the warning operation is not necessary, the control unit 23 causes the notification device 30 to execute the notification operation that is less perceptible to the rider than the warning operation. With such a configuration, the rider can easily recognize that the warning system 1 is functioning without any problem, and can give the rider a sense of security.

Embodiment 2.
The warning system according to the second embodiment will be described below.
The warning system according to the second embodiment differs from the warning system according to the first embodiment only in the operation of the determination unit 22 of the processing device 20. Descriptions that overlap or are similar to those of the warning system according to Embodiment 1 are simplified or omitted as appropriate.

<Configuration of warning system>
The configuration of the warning system according to the second embodiment will be described.

The determination unit 22 identifies the traveling direction of the straddle-type vehicle 100 from the traveling state information acquired by the acquisition unit 21, and determines the possibility of collision located in the traveling direction from the surrounding environment information acquired by the acquisition unit 21. Identify the object to be done. Note that the determination unit 22 does not specify the traveling direction of the saddle riding type vehicle 100, but simply determines the possibility of collision located within the detection range of the surrounding environment detection device 11, that is, in front of the saddle riding type vehicle 100. You may specify the object which should be done. The determination unit 22 derives, for each specified object, an index value I of the collision possibility of the saddle riding type vehicle 100 with respect to the object specified to have the collision possibility determined.

Then, the determination unit 22 sets the determination standard using the determination standard setting information acquired by the acquisition unit 21. Here, the determination standard setting information includes the upper limit value of the index value I of the possibility of collision of the saddle riding type vehicle 100. The determination unit 22 determines whether or not the derived index value I exceeds the upper limit value of the index value I as the determination reference for each identified object, and thus can collide in the traveling direction of the saddle type vehicle 100. It is determined whether there is an object with high property.

<Operation of warning system>
The operation of the warning system according to the second embodiment will be described.
FIG. 4 is a diagram showing an operation flow of the processing device of the warning system according to the second embodiment of the present invention.

The processing device 20 repeatedly executes the operation flow shown in FIG. 4 while the saddle riding type vehicle 100 is traveling. Note that steps S201, S203, and S204 in the operation flow shown in FIG. 4 are the same as steps S101, S104, and S105 in the operation flow shown in FIG. 3, respectively, and thus description thereof will be omitted.

(Judgment step)
In step S202, the determination unit 22 sets the upper limit value of the index value I as the determination standard by using the determination standard setting information acquired in step S201. The determination unit 22 determines whether or not the index value I derived for each object based on the information acquired in step S201 exceeds the upper limit value of the index value I set as the determination reference, thereby performing the saddle riding. It is determined whether or not there is an object having a high possibility of collision in the traveling direction or in front of the type vehicle 100. If Yes, the process proceeds to step S203, and if No, the process proceeds to step S204.

<Effect of warning system>
The effect of the warning system according to the second embodiment will be described.
Preferably, the surrounding environment information is information on the surrounding environment in front of the saddle riding type vehicle 100, and the determination unit 22 determines the possibility of collision of the saddle riding type vehicle 100 with an object located in front of the saddle riding type vehicle 100. The index value I is used to determine the necessity of the warning operation. Then, in particular, the determination standard setting information includes information on the upper limit value of the index value I of the possibility of collision, which is set by the rider as the determination standard of the necessity of the warning operation, and the determination unit 22 determines that the saddle during traveling is It may be determined that the warning operation is necessary when the collision possibility index value I occurring in the type vehicle 100 exceeds the upper limit value of the collision possibility index value I as the determination reference. With such a configuration, it is possible to respond to different riders from different collision sensations, which promotes both improved rider safety and comfort.

Although the first embodiment and the second embodiment have been described above, the present invention is not limited to the description of each embodiment. That is, the present invention includes a modified form of each of the embodiments described above. For example, only a part of each embodiment may be implemented, or all or a part of each embodiment may be combined.

Further, for example, in the above, the surrounding environment detecting device 11 that detects the surrounding environment in front of the saddle riding type vehicle 100 is used to recognize an object located in front of the saddle riding type vehicle 100 and warn the object. Although the case where the necessity of operation is determined has been described, the saddle riding type vehicle 100 is configured by using the surrounding environment detecting device 11 that detects the surrounding environment of the saddle riding type vehicle 100 in the other directions (sideways, backwards, etc.). An object located in another direction (sideways, backwards, etc.) may be recognized, and the necessity of the warning operation for the object may be determined. In that case, if the index value I of the possibility of collision of the saddle riding type vehicle 100 by an object located to the side or the rear of the saddle riding type vehicle 100 is derived instead of the index value I of the collision possibility. Good. For the index value I of the collision possibility, treat the saddle riding type vehicle 100 in the derivation of the collision possibility index value I as an object, and treat the object in the derivation of the collision possibility index value I as the saddle riding type vehicle 100. Can be easily derived. The upper limit value of the collision possibility index value I may be arbitrarily set by the rider, similarly to the upper limit value of the collision possibility index value I described in the second embodiment.

Further, for example, in the above description, the case where step S102 is executed before step S103 has been described in the first embodiment, but step S102 may be executed after step S103. That is, it may be determined whether or not there is an object having a high possibility of collision only when the criterion set arbitrarily by the rider is satisfied.

DESCRIPTION OF SYMBOLS 1 warning system, 11 surrounding environment detection device, 12 running state detection device, 13 input device, 20 processing device, 21 acquisition part, 22 determination part, 23 control part, 30 notification device, 100 saddle type vehicle, 101 helmet.

Claims (15)

A processing device (20) for a warning system (1) of a saddle type vehicle (100), comprising:
An acquisition unit (21) for acquiring ambient environment information according to the output of the ambient environment detection device (11) provided in the saddle riding type vehicle (100) while the saddle riding type vehicle (100) is traveling. ,
A determination unit (22) that determines the necessity of a warning operation for the rider caused in the warning system (1) based on the output of the acquisition unit (21);
A control unit (23) for causing the notification device (30) to execute the warning operation when the judgment unit (22) judges that the warning operation is necessary;
Is equipped with
The acquisition unit (21) further includes determination criterion setting information that is information on a setting state by the rider of a determination criterion of the necessity of the warning operation according to the output of the input device (13) operated by the rider. To get
The determination unit (22) determines the necessity of the warning operation based on the surrounding environment information and the determination reference setting information,
Processor (20). The surrounding environment information is information on the surrounding environment in front of the saddle riding type vehicle (100),
The determination unit (22) uses the index value (I) of the possibility of collision of the saddle riding type vehicle (100) with an object located in front of the saddle riding type vehicle (100), and the warning operation is required. Judge sex,
The processing device (20) according to claim 1. The determination standard setting information includes information on a lower limit value of a vehicle speed set by the rider as a determination standard of necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary when the vehicle speed of the running saddle riding type vehicle (100) is lower than the lower limit value of the vehicle speed as the determination reference. ,
The processing device (20) according to claim 2. The determination standard setting information includes information on an upper limit value of deceleration set by the rider as a determination standard of necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary when the deceleration occurring in the running saddle-ride type vehicle (100) exceeds the upper limit of the deceleration as the determination reference. judge,
The processing device (20) according to claim 2 or 3. The determination standard setting information includes information on an upper limit value of the index value (I), which is set by the rider as a determination standard of necessity of the warning operation,
The determination unit (22) determines that the index value (I) of the collision possibility occurring in the running saddle-ride type vehicle (100) is the index value (I) of the collision possibility as the determination criterion. When the upper limit value is exceeded, it is determined that the warning operation is necessary,
The processing device (20) according to any one of claims 2 to 4. The surrounding environment information is information on the surrounding environment of the side or the rear of the saddle riding type vehicle (100),
The determination standard setting information is set by the rider as a determination standard for the necessity of the warning operation, and the saddle riding type vehicle (100) is an object located on the side or the rear of the saddle riding type vehicle (100). Including the information on the upper limit of the index value (I) of the collision possibility of
In the determination unit (22), the index value (I) of the collision possibility occurring in the running saddle type vehicle (100) is the collision possibility index value (I) as the determination criterion. The processing device (20) according to any one of claims 1 to 5, wherein it is determined that the warning operation is necessary in a state in which the upper limit value of (1) is exceeded. The index value (I) is a value that changes according to at least one of a relative distance (Dr), a relative speed (Vr), and a relative acceleration (Ar) of the saddle riding type vehicle (100) with respect to the object. ,
The processing device (20) according to any one of claims 2 to 6. The determination standard setting information includes information on an upper limit value of a vehicle speed set by the rider as a determination standard for the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary when the vehicle speed of the running saddle-ride type vehicle (100) exceeds an upper limit value of the vehicle speed as the determination reference. ,
The processing device (20) according to any one of claims 1 to 7. The determination standard setting information includes information on the upper limit value of the roll angle, which is set by the rider as a determination standard of the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary when the roll angle generated in the running saddle riding type vehicle (100) exceeds the upper limit value of the roll angle as the determination reference. judge,
The processing device (20) according to any one of claims 1 to 8. The determination criterion setting information includes information on an upper limit value of a deviation angle in a traveling direction with respect to a straight traveling direction, which is set by the rider as a determination criterion of necessity of the warning operation,
The determination unit (22) does not need the warning operation in a state where the deviation angle occurring in the running saddle-ride type vehicle (100) exceeds the upper limit value of the deviation angle as the determination reference. Judge,
The processing device (20) according to any one of claims 1 to 9. The control unit (23) does not operate the notification device (30) when the determination unit (22) determines that the warning operation is unnecessary.
The processing device (20) according to any one of claims 1 to 10. When the determination unit (22) determines that the warning operation is unnecessary, the control unit (23) causes the notification device (30) to have a lower perceptibility of the rider than the warning operation. Execute notification operation,
The processing device (20) according to any one of claims 1 to 10. A processing device (20) according to any one of claims 1 to 12,
The ambient environment detection device (11),
The input device (13),
Is equipped with,
Warning system (1) for a saddle type vehicle (100). A warning system (1) according to claim 13;
A saddle type vehicle (100). A processing method for a warning system (1) of a saddle type vehicle (100), comprising:
An ambient environment detecting device provided in the straddle-type vehicle (100) during acquisition of the acquisition unit (21) of the processing device (20) of the warning system (1) while the straddle-type vehicle (100) is traveling. An acquisition step (S101, S201) of acquiring ambient environment information according to the output of (11),
A determination step (S102) of the determination unit (22) of the processing device (20) based on the output of the acquisition unit (21) to determine the necessity of a warning operation for the rider to be generated in the warning system (1). , S103, S202),
A control step of causing the notification device (30) to execute the warning operation when the control unit (23) of the processing device (20) determines that the warning operation is necessary by the determination unit (22) ( S104, S105, S203, S204),
Is equipped with
In the acquisition step (S101, S201), the acquisition unit (21) further determines whether the warning operation is required by the rider according to the output of the input device (13) operated by the rider. Acquire the judgment criteria setting information that is the setting status information,
In the determination step (S102, S103, S202), the determination unit (22) determines the necessity of the warning operation based on the surrounding environment information and the determination reference setting information,
Processing method.

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