JP2023093987A - Control device and control method - Google Patents

Abstract

To provide a control device and a control method capable of improving the safety of a saddle-ride type vehicle.SOLUTION: In a control device 13 and a control method according to the present invention, an execution unit of the control device 13 executes a first warning operation of warning a rider 2 by a display on a display unit 12. The execution unit executes a second warning operation having stronger perceptibility than the first warning operation when a first condition is satisfied while the first warning operation is being executed. The first condition is a condition that watching motion information, which is information about the watching motion of the rider 2, is information indicating a state in which the rider 2 is not watching the display unit 12.SELECTED DRAWING: Figure 1

Description

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

2. Description of the Related Art Conventionally, various techniques have been proposed for assisting a rider in driving a saddle-ride type vehicle such as a motorcycle. For example, in Patent Document 1, based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel, a rider of a motorcycle is notified that the obstacle is inappropriately approaching. A warning driver assistance system is disclosed.

JP 2009-116882 A

As a technique for assisting a rider's driving, there is a warning operation (for example, an operation to warn the presence or approach of a vehicle or the like in the vicinity) to warn the rider by displaying a display on a display unit. Here, in a saddle-ride type vehicle, the display portion is smaller than that of a four-wheeled vehicle or the like, so a situation is likely to occur in which the rider does not recognize the warning by the warning operation. Therefore, in a saddle-riding type vehicle, a proposal for improving safety by a warning operation is desired.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control device and control method capable of improving the safety of a saddle-ride type vehicle.

A control device according to the present invention is a control device for a rider assistance system that assists a rider in driving a saddle-ride type vehicle, and is an execution unit that executes a first warning operation to issue a warning to the rider through display on a display unit. wherein the execution unit executes a second warning action having stronger perceptibility than the first warning action when a first condition is satisfied during execution of the first warning action, and the first condition is and that the viewing action information, which is the information on the viewing action by the rider, is information indicating a state in which the rider is not looking at the display section.

A control method according to the present invention is a control method for a rider assistance system that assists a rider in driving a saddle-ride type vehicle, wherein an execution unit of a control device issues a warning to a rider through display on a display unit. executing a warning action, and executing a second warning action having a stronger perceptibility than the first warning action when a first condition is satisfied during the execution of the first warning action; The first condition is that the viewing action information, which is information on the viewing action by the rider, is information indicating a state in which the rider is not looking at the display section.

In the control device and control method according to the present invention, the execution unit of the control device executes the first warning operation of warning the rider by displaying on the display unit, and the execution unit performs the first warning operation during execution of the first warning operation. When the first condition is satisfied, a second warning action having stronger perceptibility than the first warning action is executed. The condition is that the information indicates a state that is not visually observed. Thereby, even if the rider does not recognize the warning by the first warning operation, the rider can be made to recognize the warning by the second warning operation. Therefore, the situation in which the rider does not recognize the warning by the warning operation is suppressed, so that the safety of the saddle-ride type vehicle can be improved.

1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle according to an embodiment of the present invention; FIG. It is a block diagram showing an example of functional composition of a control device concerning an embodiment of the present invention. FIG. 4 is a diagram showing how a vehicle located in front of the saddle-ride type vehicle is detected according to the embodiment of the present invention; FIG. 5 is a diagram showing how a vehicle positioned to the left rear of the saddle-ride type vehicle is detected according to the embodiment of the present invention; 4 is a flow chart showing the flow of a first processing example performed by the control device according to the embodiment of the present invention; 9 is a flow chart showing the flow of a second processing example performed by the control device according to the embodiment of the present invention;

A control device and a control method according to the present invention will be described below with reference to the drawings.

Although the control system used for a two-wheeled motorcycle will be described below (see the saddle-ride type vehicle 1 in FIG. 1), the vehicle to be controlled by the control system according to the present invention is a saddle-ride type vehicle. Any type of vehicle may be used, and a saddle type vehicle other than a two-wheeled motorcycle may be used. A straddle-type vehicle means a vehicle on which a rider straddles. Straddle-type vehicles include, for example, motorcycles (motorcycles and tricycles), bicycles, and buggies. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, and the like. Motorcycles include, for example, motorcycles, scooters, electric scooters, and the like. By bicycle is meant a vehicle that can be propelled on the road by a rider's force applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, electric bicycles, and the like.

Also, the configuration, operation, etc., described below are examples, and the control device and the control method according to the present invention are not limited to such configurations, operations, and the like.

Also, the same or similar descriptions are appropriately simplified or omitted below. Further, in each drawing, the same or similar members or parts are omitted from being given reference numerals or are given the same reference numerals. In addition, detailed structures are simplified or omitted as appropriate.

<Configuration of saddle type vehicle>
A configuration of a straddle-type vehicle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

FIG. 1 is a schematic diagram showing a schematic configuration of a saddle-ride type vehicle 1. As shown in FIG. A saddle-ride type vehicle 1 is a two-wheeled motorcycle corresponding to an example of a saddle-ride type vehicle according to the present invention. The straddle-type vehicle 1 includes a front ambient environment sensor 11f, a rear ambient environment sensor 11r, a display unit 12, and a control unit (ECU) 13, as shown in FIG. Note that the display unit 12 corresponds to an example of a first display unit that is a display unit mounted on the saddle-ride type vehicle 1 .

FIG. 1 shows a rider 2 of a saddle-ride type vehicle 1 wearing a helmet 3 . The helmet 3 includes a camera 31, an inertial measurement unit (IMU) 32, and a display section 33, as shown in FIG. Note that the display section 33 corresponds to an example of a second display section, which is a display section provided on the helmet 3 worn by the rider 2 .

The saddle-ride type vehicle 1 includes a rider assistance system 10 that assists the rider 2 in driving the saddle-ride type vehicle 1 . The rider support system 10 includes the above components (that is, the front ambient environment sensor 11f, the rear ambient environment sensor 11r, the display section 12, the control device 13, the camera 31, the inertial measurement device 32, and the display section 33).

The surrounding environment sensors of the front surrounding environment sensor 11f and the rear surrounding environment sensor 11r detect surrounding environment information about the surrounding environment of the saddle-ride type vehicle 1. FIG. Specifically, the front ambient environment sensor 11f is provided in the front portion of the body of the saddle-ride type vehicle 1 and detects ambient environment information ahead of the saddle-ride type vehicle 1 . The rear ambient environment sensor 11r is provided at the rear portion of the fuselage of the saddle-ride type vehicle 1 and detects ambient environment information behind the saddle-ride type vehicle 1 . Surrounding environment information detected by each surrounding environment sensor is output to the control device 13 .

The ambient environment information detected by each ambient environment sensor is information related to the distance or direction to the subject positioned around the saddle-ride type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.). or the characteristics of the subject located around the saddle-ride type vehicle 1 (for example, the type of the subject, the shape of the subject itself, the marks attached to the subject, etc.) good. Each ambient environment sensor is, for example, a radar, lidar sensor, ultrasonic sensor, camera, or the like.

Surrounding environment information can also be detected by surrounding environment sensors mounted on other vehicles or by infrastructure equipment. That is, the control device 13 can also acquire surrounding environment information through wireless communication with other vehicles or infrastructure equipment.

The display unit 12 has a display function of visually displaying information. Examples of the display unit 12 include a liquid crystal display, a lamp, and the like. The arrangement of the display unit 12 with respect to the vehicle body is not particularly limited. For example, the display unit 12 may be provided near the mirror of the saddle-ride type vehicle 1 or may be provided in the body of the saddle-ride type vehicle 1 in front of the steering wheel.

A control device 13 controls the rider assistance system 10 . For example, part or all of the control device 13 is configured by a microcomputer, a microprocessor unit, or the like. Further, for example, part or all of the control device 13 may be composed of an updatable device such as firmware, or may be a program module or the like that is executed by a command from a CPU or the like. For example, one control device 13 may be provided, or a plurality of control devices may be provided.

The camera 31 is provided in the front part of the helmet 3 in a posture facing the inside of the helmet 3 and captures an image of a part of the rider's face including at least the eyes.

The inertial measurement device 32 includes a 3-axis gyro sensor and a 3-directional acceleration sensor, and detects the attitude of the helmet 3 . The inertial measurement device 32 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensor. Information indicating the posture of the helmet 3 detected by the inertial measurement device 32 is used as information indicating the posture of the rider's 2 head, as will be described later.

The display unit 33 has a display function of visually displaying information within the field of view of the rider 2 . Examples of the display unit 33 include a device that includes a light-transmissive member provided in the front portion of the helmet 3 and that projects an image onto the member. Such technology is also called a head-up display. However, the display unit 33 may not use a technology called a head-up display.

FIG. 2 is a block diagram showing an example of the functional configuration of the control device 13. As shown in FIG. As shown in FIG. 2, the control device 13 includes, for example, an acquisition unit 13a, a detection unit 13b, and an execution unit 13c. Also, the control device 13 communicates with each device of the rider support system 10 .

The acquisition unit 13a acquires information from each device of the rider support system 10 and outputs the information to the detection unit 13b and the execution unit 13c. For example, the acquisition unit 13 a acquires information from the front ambient environment sensor 11 f , the rear ambient environment sensor 11 r , the camera 31 and the inertial measurement device 32 . In this specification, the acquisition of information may include extraction or generation of information.

The detection unit 13b detects objects such as vehicles around the saddle-ride type vehicle 1 . The detection unit 13b detects an object based on the output result of the ambient environment sensor mounted on the saddle-ride type vehicle 1. FIG. For example, the detection unit 13b detects an obstacle such as a vehicle positioned in front of the saddle-ride type vehicle 1 based on the output result of the front ambient environment sensor 11f. Further, for example, the detection unit 13b detects a blind spot vehicle, which is a vehicle positioned to the left rear or right rear of the saddle type vehicle 1, based on the output result of the rear ambient environment sensor 11r.

FIG. 3 is a diagram showing how the vehicle 4 located in front of the saddle-ride type vehicle 1 is detected. In the example of FIG. 3, the saddle-ride type vehicle 1 is traveling in the right lane L1 of lanes L1 and L2 adjacent to each other. Lane L<b>1 corresponds to a travel lane for saddle-ride type vehicle 1 . Lane L2 corresponds to an adjacent lane adjacent to the travel lane (lane L1) of saddle-ride type vehicle 1 . A vehicle 4 traveling on the lane L1 is positioned in front of the saddle-ride type vehicle 1 . The vehicle 4 is a four-wheel automobile.

As shown in FIG. 3, the detection range 14f of the front ambient environment sensor 11f extends radially forward from the front portion of the saddle-ride type vehicle 1. As shown in FIG. In the example of FIG. 3, the vehicle 4 is positioned within the detection range 14f of the front ambient environment sensor 11f. Therefore, the detection unit 13b detects the vehicle 4 as an obstacle located in front of the saddle-ride type vehicle 1 based on the output result of the front ambient environment sensor 11f. Further, the detection unit 13b can acquire the detected running state information of the vehicle 4 . The running state information of the vehicle may include various information (for example, position, speed, acceleration, etc. of the vehicle) regarding the running state of the vehicle. Note that the detection unit 13b may detect an obstacle other than the vehicle (for example, road equipment, a person, an animal, etc.) as an obstacle located in front of the saddle-ride type vehicle 1. FIG.

FIG. 4 is a diagram showing how the vehicles 6 and 7 positioned to the left rear of the saddle-ride type vehicle 1 are detected. In the example of FIG. 4, similarly to the example of FIG. 3, the saddle-ride type vehicle 1 is traveling in the right lane L1 of the lanes L1 and L2 adjacent to each other. A vehicle 5 traveling on the lane L1 is positioned behind the saddle-ride type vehicle 1 . A vehicle 6 traveling on the lane L2 is positioned to the left rear of the saddle-ride type vehicle 1 . Vehicles 5 and 6 are four-wheeled automobiles. A vehicle 7 traveling on the lane boundary LV between the lane L1 and the lane L2 is positioned to the left rear of the saddle-ride type vehicle 1 . The vehicle 7 is a two-wheeled motorcycle and runs between the vehicle 5 and the vehicle 6 .

As shown in FIG. 4, the detection range 14r of the rear ambient environment sensor 11r extends radially rearward from the rear portion of the saddle type vehicle 1. As shown in FIG. In the example of FIG. 4, the vehicle 6 and the vehicle 7 are positioned within the detection range 14r of the rear ambient environment sensor 11r. Therefore, the detection unit 13b detects the vehicle 6 and the vehicle 7 as blind spot vehicles based on the output result of the rear ambient environment sensor 11r. Further, the detection unit 13b can acquire the running state information of the detected vehicle 6 and the vehicle 7 . Note that the detection unit 13b may detect a vehicle positioned to the right rear of the saddle-ride type vehicle 1 as a vehicle in a blind spot.

When the ambient environment information is acquired via wireless communication with other vehicles or infrastructure equipment, the detection unit 13b detects the saddle riding position based on the ambient environment information thus obtained via wireless communication. Detection of an obstacle such as a vehicle positioned in front of the type vehicle 1 and detection of a blind spot vehicle positioned to the left rear or right rear of the saddle type vehicle 1 may be performed.

The execution unit 13c executes a warning operation to issue a warning to the rider 2 as a rider assistance operation for assisting the rider 2 in driving. Specifically, the execution unit 13c executes a first warning operation of warning the rider 2 by displaying on the display unit 12. FIG. Then, the execution unit 13c executes a second warning action having stronger perceptibility than the first warning action when a specific condition is satisfied during the execution of the first warning action. The execution unit 13c executes a warning operation, for example, based on the detection result by the detection unit 13b. The details of the processing related to the warning operation performed by the control device 13 will be described later.

<Operation of the control device>
The operation of the control device 13 according to the embodiment of the present invention will be described with reference to FIGS. 5 and 6. FIG.

A first processing example and a second processing example will be sequentially described below as examples of processing relating to the warning operation performed by the control device 13, with reference to FIGS. 5 and 6, respectively.

In the following, an example will be described in which the warning operation executed by the execution unit 13c is an operation to warn of the presence or approach of a vehicle or the like around the saddle-ride type vehicle 1 detected by the detection unit 13b. The operation of warning the presence or approach of an obstacle such as a vehicle positioned in front of the saddle-ride type vehicle 1 is also called a forward collision warning. The operation of warning the presence or approach of a vehicle in a blind spot positioned to the left rear or right rear of the saddle-ride type vehicle 1 is also called blind spot warning. However, the event for which the rider 2 is warned by the warning operation executed by the execution unit 13c is not limited to the examples described below.

FIG. 5 is a flow chart showing the flow of the first processing example performed by the control device 13 . Step S101 in FIG. 5 corresponds to the start of the control flow shown in FIG.

When the control flow according to the first processing example shown in FIG. 5 is started, the execution unit 13c determines whether or not a warning to the rider 2 is necessary in step S102.

In step S102, the execution unit 13c warns the rider 2 based on, for example, the running state information of vehicles (hereinafter also referred to as detected vehicles) around the saddle-ride type vehicle 1 detected by the detection unit 13b. Determine whether or not there is The running state information used in step S102 may include, for example, information on the inter-vehicle distance between the saddle-ride type vehicle 1 and the detected vehicle, or may include information on the transit time difference between the saddle-ride type vehicle 1 and the detected vehicle. It may also include information on the relative speed of the detected vehicle with respect to the straddle-type vehicle 1 . The transit time difference corresponds to a value obtained by dividing the inter-vehicle distance by the relative speed.

The execution unit 13c can determine whether or not a warning to the rider 2 is necessary based on information on the inter-vehicle distance between the saddle-ride type vehicle 1 and the detected vehicle. For example, the execution unit 13c can determine that a warning to the rider 2 is necessary when the inter-vehicle distance between the saddle-ride type vehicle 1 and the detected vehicle is shorter than the reference distance. The information on the inter-vehicle distance between the saddle-ride type vehicle 1 and the detected vehicle may be a straight-line distance, a distance in the width direction of the road, or a distance in a direction along the extending direction of the road. There may be.

Further, the execution unit 13c can determine whether or not a warning to the rider 2 is necessary based on the information on the difference in transit time between the saddle-ride type vehicle 1 and the detected vehicle. For example, the execution unit 13c can determine that a warning to the rider 2 is necessary when the passing time difference between the saddle-ride type vehicle 1 and the detected vehicle is shorter than the reference time difference.

Further, the execution unit 13c can determine whether or not a warning to the rider 2 is necessary based on information on the relative speed of the detected vehicle with respect to the saddle-ride type vehicle 1 . For example, the execution unit 13c can determine that a warning to the rider 2 is necessary when the relative speed of the detected vehicle to the saddle-ride type vehicle 1 is higher than the reference speed.

In determining whether or not a warning to the rider 2 is necessary, the execution unit 13c includes information on the inter-vehicle distance between the saddle-ride type vehicle 1 and the detected vehicle, information on the transit time difference between the saddle-ride type vehicle 1 and the detected vehicle, Also, only a part of the information on the relative speed of the detected vehicle with respect to the saddle-ride type vehicle 1 may be used, or all kinds of information may be used, or information other than these information may be used. . Further, when an obstacle other than the vehicle positioned in front of the saddle-ride type vehicle 1 is detected, the execution unit 13c, for example, based on the relative position and relative speed of the detected obstacle with respect to the saddle-ride type vehicle 1, , it can be determined whether a warning to rider 2 is required.

If it is not determined that a warning to rider 2 is necessary (step S102/NO), the process of step S102 is repeated. On the other hand, if it is determined that a warning to rider 2 is necessary (step S102/YES), the process proceeds to step S103, and in step S103 the execution unit 13c executes a first warning operation.

The first warning operation is an operation of giving a warning to the rider 2 by displaying on the display unit 12 . For example, the presence or approach of a vehicle or the like around the saddle-ride type vehicle 1 detected by the detection unit 13b is warned by the first warning operation. The mode of display by the display unit 12 in the first warning operation can be appropriately changed according to the type of the display unit 12 . For example, when the display unit 12 is a liquid crystal display, the execution unit 13c may cause the display unit 12 to display characters, graphics, symbols, or a combination thereof in the first warning operation. Further, for example, when the display unit 12 is a lamp, the execution unit 13c may light or blink the display unit 12 in the first warning operation.

After step S103, in step S104, the execution unit 13c determines whether or not the first condition is satisfied. The first condition is that the viewing motion information, which is information about the viewing motion of the rider 2, is information indicating a state in which the rider 2 is not viewing the display unit 12. FIG. The viewing motion information is information for determining which object or direction the rider 2 is viewing, and may include various information regarding the viewing motion of the rider 2 .

For example, the execution unit 13c uses information indicating the direction of the line of sight of the rider 2 as the visual movement information. In this case, for example, the execution unit 13 c identifies the relative direction of the line of sight of the rider 2 with respect to the helmet 3 based on the image captured by the camera 31 provided on the helmet 3 . The execution unit 13c also identifies the relative attitude of the helmet 3 with respect to the saddle-ride type vehicle 1 based on the output result of the inertial measurement device 32 provided on the helmet 3 . Then, the execution unit 13c determines the line of sight of the rider 2 with respect to the saddle-ride type vehicle 1 based on the relative direction of the line of sight of the rider 2 with respect to the helmet 3 and the relative attitude of the helmet 3 with respect to the saddle-ride type vehicle 1. Identify relative orientation. When the information indicating the line-of-sight direction of the rider 2 thus obtained is information indicating a state in which the rider 2 is not looking at the display unit 12, the execution unit 13c determines that the first condition is satisfied. .

As described above, the viewing action information may include information indicating the direction of the line of sight of the rider 2 . However, the visual movement information may include information other than the information indicating the direction of the line of sight of the rider 2 . That is, the execution unit 13c may use other information as the visual movement information instead of the information indicating the direction of the line of sight of the rider 2 .

For example, the execution unit 13c may use information indicating the posture of the head of the rider 2 as the visual movement information. In this case, for example, the execution unit 13c determines the relative posture of the helmet 3 with respect to the saddle-riding vehicle 1 based on the output result of the inertial measurement device 32 provided on the helmet 3. Identifies as the relative pose of the head. When the information indicating the head posture of the rider 2 thus obtained is information indicating that the rider 2 is not looking at the display unit 12, the executing unit 13c determines that the first condition is satisfied. .

In the above description, an example in which visual motion information is acquired using the sensors (for example, the camera 31 and the inertial measurement device 32) provided on the helmet 3 has been described. However, the visual motion information may be acquired using a sensor provided in the saddle-ride type vehicle 1 . For example, when a camera that captures the face of the rider 2 is provided in the saddle-ride type vehicle 1, information indicating the direction of the line of sight of the rider 2, or the head of the rider 2, based on the image captured by the camera. may be acquired as the viewing motion information.

If it is determined that the first condition is satisfied (step S104/YES), the process proceeds to step S105, and in step S105 the execution unit 13c executes the second warning operation. On the other hand, if it is not determined that the first condition is satisfied (step S104/NO), the process proceeds to step S106, and in step S106 the execution unit 13c continues execution of the first warning operation.

As described above, the execution unit 13c executes the second warning action when the first condition is satisfied while the first warning action is being executed. The second warning action is a warning action with stronger perceptibility than the first warning action. That is, in the second warning action, it is easier for the rider 2 to perceive (that is, easier to recognize) the warning than in the first warning action.

For example, the second warning action may be an action of warning the rider 2 with a display that differs from the first warning action in at least one of the display range, display brightness, display color, and display timing. In this case, the second warning action is, specifically, the action of warning the rider 2 with a display that is more perceptive than the first warning action. For example, the second warning action may have a wider display range than the first warning action. Also, for example, in the second warning action, the display luminance may be higher than in the first warning action. Further, for example, the display color may be close to blue in the first warning action, while the display color may be close to red in the second warning action. Further, for example, when the first warning action and the second warning action are actions of blinking the lamp, the second warning action may have a shorter blinking time interval than the first warning action. According to these examples, the perceptibility of the second warning action can be made stronger than the perceptibility of the first warning action.

Further, for example, the second warning operation may be an operation of giving a warning to the rider 2 by means of display by the display section 33, which is the second display section provided on the helmet 3 worn by the rider 2. FIG. As described above, the first warning operation is an operation of giving a warning to the rider 2 by means of display by the display unit 12, which is the first display unit mounted on the saddle-ride type vehicle 1. FIG. The display by the display unit 33 is easier for the rider 2 to perceive than the display by the display unit 12 . Therefore, in the second warning action, the display section 33, which is the second display section provided on the helmet 3, is used to display, so that the perceptibility of the second warning action can be made stronger than the perceptibility of the first warning action.

Further, for example, the second warning operation may be an operation of warning the rider 2 by at least one of voice and vibration in addition to display. For example, in the second warning operation, the execution unit 13c may cause the sound output device provided on the saddle-ride type vehicle 1 or the sound output device provided on the helmet 3 to output the sound. . Further, for example, in the second warning operation, the execution unit 13c may cause a vibration generator provided in the saddle-ride type vehicle 1 to generate vibration, or cause a vibration generator mounted on the rider 2 to generate vibration. may Vibration may be generated by instantaneously decelerating the saddle-ride type vehicle 1 . Instantaneous deceleration of the saddle-ride type vehicle 1 may be realized by reducing the output of a driving source such as an engine, or may be realized by generating a braking force with a hydraulic control unit. It may be realized by changing the gear ratio of the transmission mechanism of the saddle type vehicle 1 . According to these examples, the perceptibility of the second warning action can be made stronger than the perceptibility of the first warning action.

Further, for example, the second warning operation may be an operation of warning the rider 2 by at least one of voice and vibration instead of display. The second warning action is not limited to the action of warning the rider 2 by at least one of voice and vibration in addition to display, and the second warning action may be at least voice and vibration instead of display. Even in the case of the action of warning the rider 2 by one side, the perceptibility of the second warning action can be made stronger than the perceptibility of the first warning action.

After step S105 or step S106, in step S107, the execution unit 13c determines whether or not a warning to the rider 2 is necessary. The processing of step S107 is the same as the processing of step S102 described above. If it is determined that a warning to rider 2 is necessary (step S107/YES), step S107 is repeated. For example, when the second warning action is being executed in step S105, the second warning action continues to be executed while step S107 is repeated. If execution of the first warning action continues in step S106, the first warning action continues to be executed while step S107 is repeated. On the other hand, if it is not determined that a warning to the rider 2 is necessary (step S107/NO), the process proceeds to step S108, in which the execution unit 13c terminates the warning operation and returns to step S102.

As described above, in the first processing example shown in FIG. 5, the execution unit 13c makes the perceptibility stronger than the first warning action when the first condition is satisfied during the execution of the first warning action. The second warning action is executed, and the first condition is that the visual action information, which is information on the visual action of the rider 2, is information indicating a state in which the rider 2 is not looking at the display section 12. . If the first condition is satisfied, there is a high possibility that the rider 2 has not recognized the warning by the first warning action. Therefore, by executing the second warning operation in such a case, even if the rider 2 does not recognize the warning by the first warning operation, the rider 2 can be made to recognize the warning by the second warning operation. can be done. Therefore, the situation in which the rider 2 does not recognize the warning by the warning operation is suppressed, so that the safety of the saddle-ride type vehicle 1 can be improved.

FIG. 6 is a flow chart showing the flow of the second processing example performed by the control device 13 . Step S201 in FIG. 6 corresponds to the start of the control flow shown in FIG.

The control flow according to the second processing example shown in FIG. 6 differs from the above-described control flow according to the first processing example shown in FIG. 5 in that step S104 is replaced with step S204. .

In the control flow according to the second processing example shown in FIG. 6, after step S103, in step S204, the execution unit 13c determines whether both the first condition and the second condition are satisfied. The second condition is that the visual action information is information indicating a state in which the rider 2 does not see the event for which the rider 2 is warned by the first warning action.

The above events may include the presence or approach of an obstacle in front of the saddle-ride type vehicle 1, as described above. For example, when the presence or approach of the vehicle 4 in the example of FIG. If the information indicates that the rider 2 is not looking, the execution unit 13c determines that the second condition is satisfied.

Also, the above events may include the presence or approach of a vehicle in the left rear or right rear of the saddle type vehicle 1 (that is, a vehicle in a blind spot), as described above. For example, when the presence or approach of the vehicle 7 in the example of FIG. is information indicating a state in which the rider 2 is not viewing, the execution unit 13c determines that the second condition is satisfied.

In determining whether the second condition is satisfied, information indicating the line-of-sight direction of the rider 2 may be used as the visual movement information, similar to the determination of whether the first condition is satisfied. Information indicating the posture of the head of the rider 2 may be used as the visual movement information.

If it is determined that both the first condition and the second condition are satisfied (step S204/YES), the process proceeds to step S105, and the execution unit 13c executes the second warning operation in step S105. On the other hand, if it is determined that both the first condition and the second condition are not satisfied (step S204/NO), the process proceeds to step S106, and in step S106 the execution unit 13c continues execution of the first warning action. . That is, in the second processing example shown in FIG. 6, even if the first condition is satisfied, if the second condition is not satisfied, the second warning action is not executed, and the first warning action is executed. Execution continues.

As described above, in the second processing example shown in FIG. 6, the execution unit 13c performs the second warning action when the second condition is satisfied in addition to the first condition during execution of the first warning action. is executed, and the second condition is that the visual action information is information indicating a state in which the rider 2 does not see the event for which the rider 2 is warned by the first warning action. If the second condition is not met, it is assumed that rider 2 has recognized the warning from the first warning action. Therefore, in such a case, unnecessary execution of the second warning operation can be suppressed. On the other hand, when both the first condition and the second condition are satisfied, there is a high possibility that the warning by the first warning action is not recognized by the rider 2 . Therefore, by executing the second warning operation in such a case, even if the rider 2 does not recognize the warning by the first warning operation, the rider 2 can be made to recognize the warning by the second warning operation. can be done. Therefore, the safety of the saddle-ride type vehicle 1 can be improved while suppressing unnecessary execution of the second warning operation.

An example of the processing performed by the control device 13 has been described above with reference to the flowcharts of FIGS. 5 and 6 . However, the control device 13 may perform processing other than the processing described above. For example, in the first processing example shown in FIG. 5, when the first condition is no longer satisfied during the execution of the second warning action, the execution unit 13c terminates the second warning action and performs the first warning action. You can restart. Further, for example, in the second processing example shown in FIG. 6, if at least one of the first condition and the second condition is no longer satisfied during execution of the second warning action, the execution unit 13c performs the second warning action. may be terminated to resume the first warning operation.

<Effect of control device>
Effects of the control device 13 according to the embodiment of the present invention will be described.

In the control device 13, the execution unit 13c executes a second warning action having stronger perceptibility than the first warning action when a first condition is satisfied during execution of the first warning action, and the first condition is The condition is that the viewing motion information, which is information about the viewing motion of the rider 2, is information indicating a state in which the rider 2 is not viewing the display unit 12. FIG. Thereby, even if the rider 2 does not recognize the warning by the first warning operation, the rider 2 can be made to recognize the warning by the second warning operation. Therefore, the situation in which the rider 2 does not recognize the warning by the warning operation is suppressed, so that the safety of the saddle-ride type vehicle 1 can be improved.

Preferably, in the control device 13, the execution unit 13c executes the second warning action when the second condition is satisfied in addition to the first condition during the execution of the first warning action, and the second condition is visual confirmation. The condition is that the action information is information indicating a state in which the rider 2 is not visually observing the event for which the rider 2 is warned by the first warning action. Therefore, if the second condition is not met, the second warning action is not executed. As a result, the safety of the saddle-ride type vehicle 1 can be improved while suppressing unnecessary execution of the second warning operation.

Preferably, in the controller 13, the event includes the presence or approach of an obstacle in front of the saddle-ride type vehicle 1 (the vehicle 4 in the example of FIG. 3). As a result, when the presence or approach of an obstacle in front of the saddle-ride type vehicle 1 is warned by the first warning action, unnecessary execution of the second warning action is suppressed, and the saddle-ride type vehicle 1 safety can be improved.

Preferably, in the controller 13, the event includes the presence or approach of a vehicle (vehicles 6, 7 in the example of FIG. 4) behind the saddle-type vehicle 1 to the left or right. As a result, when the presence or approach of a vehicle (that is, a vehicle in a blind spot) behind the saddle-ride type vehicle 1 is warned by the first warning operation, the second warning operation is not executed unnecessarily. The safety of the saddle-ride type vehicle 1 can be improved while suppressing the

Preferably, in the control device 13, the second warning operation is an operation of warning the rider 2 by displaying at least one of display range, display brightness, display color, and display timing different from the first warning operation. is. As a result, it is appropriately realized that the perceptibility of the second warning action is made stronger than the perceptibility of the first warning action.

Preferably, in the control device 13, the first warning operation is an operation of warning the rider 2 by means of a display on the first display unit (the display unit 12 in the above example) mounted on the saddle type vehicle 1. The second warning operation is an operation of giving a warning to the rider 2 by means of a display on the second display section (the display section 33 in the above example) provided on the helmet 3 worn by the rider 2 . As a result, it is appropriately realized that the perceptibility of the second warning action is made stronger than the perceptibility of the first warning action.

Preferably, in the control device 13, the second warning operation is an operation of warning the rider 2 by at least one of sound and vibration in addition to display. As a result, it is appropriately realized that the perceptibility of the second warning action is made stronger than the perceptibility of the first warning action.

Preferably, in the control device 13, the second warning operation is an operation of warning the rider 2 by at least one of sound and vibration instead of display. As a result, it is appropriately realized that the perceptibility of the second warning action is made stronger than the perceptibility of the first warning action.

Preferably, in the control device 13, the visual movement information includes information indicating the direction of the rider's 2 line of sight. As a result, it is possible to appropriately determine which object or direction the rider 2 is looking at. Therefore, it is possible to appropriately determine whether the first condition is satisfied and whether the second condition is satisfied.

Preferably, in the control device 13, the visual movement information includes information indicating the posture of the rider's 2 head. As a result, it is possible to appropriately determine which object or direction the rider 2 is looking at. Therefore, it is possible to appropriately determine whether the first condition is satisfied and whether the second condition is satisfied.

The invention is not limited to the description of the embodiments. For example, only some of the embodiments may be implemented.

1 saddle type vehicle 2 rider 3 helmet 4 vehicle 5 vehicle 6 vehicle 7 vehicle 10 rider support system 11f front ambient environment sensor 11r rear ambient environment sensor 12 display unit (first display unit) , 13 control device, 13a acquisition unit, 13b detection unit, 13c execution unit, 14f detection range, 14r detection range, 31 camera, 32 inertial measurement device, 33 display unit (second display unit), L1 lane, L2 lane, LV lane boundary.

Claims (11)

A control device (13) of a rider assistance system (10) for assisting driving of a rider (2) of a saddle type vehicle (1),
an execution unit (13c) for executing a first warning operation to warn the rider (2) by display on the display unit (12);
The executing unit (13c) executes a second warning action having stronger perceptibility than the first warning action when a first condition is satisfied during execution of the first warning action,
The first condition is that the viewing action information, which is information about the viewing action of the rider (2), is information indicating a state in which the rider (2) is not looking at the display section (12). is
Control device. The execution unit (13c) executes the second warning action when a second condition is satisfied in addition to the first condition during execution of the first warning action,
The second condition is that the visual action information is information indicating a state in which the rider (2) is not visually observing the event for which the rider (2) is warned by the first warning action. is the condition
A control device according to claim 1 . The event includes the presence or approach of an obstacle (4) in front of the saddle-riding vehicle (1),
3. A control device according to claim 2. The event includes the presence or approach of a vehicle (6, 7) at the left rear or right rear of the saddle-riding vehicle (1),
4. A control device according to claim 2 or 3. The second warning operation is an operation of warning the rider (2) by displaying at least one of display range, display brightness, display color, and display timing different from that of the first warning operation.
A control device according to any one of claims 1 to 4. The first warning operation is an operation of warning the rider (2) by means of a display by a first display unit (12) mounted on the saddle-ride type vehicle (1),
The second warning operation is an operation to warn the rider (2) by displaying a second display section (33) provided on the helmet (3) worn by the rider (2).
A control device according to any one of claims 1 to 4. The second warning action is an action to warn the rider (2) by at least one of sound and vibration in addition to display.
A control device according to any one of claims 1 to 6. The second warning action is an action to warn the rider (2) by at least one of sound and vibration instead of display.
A control device according to any one of claims 1 to 4. The visual movement information includes information indicating the line-of-sight direction of the rider (2),
A control device according to any one of claims 1 to 8. The visual movement information includes information indicating the head posture of the rider (2),
A control device according to any one of claims 1 to 9. A control method for a rider assistance system (10) for assisting driving by a rider (2) of a saddle type vehicle (1), comprising:
The execution unit (13c) of the control device (13) executes a first warning operation for warning the rider (2) by displaying on the display unit (12),
The executing unit (13c) executes a second warning action having stronger perceptibility than the first warning action when a first condition is satisfied during execution of the first warning action,
The first condition is that the viewing action information, which is information about the viewing action of the rider (2), is information indicating a state in which the rider (2) is not looking at the display section (12). is
control method.

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