JP7329055B2 - Vehicle control device, in-vehicle device and program - Google Patents

Description

The present invention relates to a vehicle control device, an in-vehicle device, and a program.

There is known a technique of notifying a driver to prepare for braking based on a braking signal from a vehicle ahead (for example, Patent Document 1).

JP 2010-128637 A

In a motorcycle, the braking distance is likely to change depending on the state of the vehicle and the external environment during running, and it is desirable to notify the driver at a timing that corresponds to the situation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a technology for notifying the driver according to the situation.

According to the present invention, there is provided a control apparatus applied to a vehicle including acquisition means for acquiring braking information of a forward vehicle traveling in front of the own vehicle, and notification means for notifying the driver of the own vehicle. ,
When the acquiring means acquires the braking information, and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. a control means;
condition changing means for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
with
the vehicle is a motorcycle;
Provided by the control device, wherein the second information includes information about the driving skill of the motorcycle driver, or information about the gripping state of the steering wheel by the driver while driving the motorcycle. be done.

According to the present invention, it is possible to notify the driver according to the situation.

1 is a left side view of a motorcycle according to one embodiment; FIG. 1 is a block diagram showing an example of a hardware configuration of a motorcycle according to one embodiment; FIG. 4 is a flowchart showing an example of processing by a processing unit according to one embodiment; 2 is a schematic diagram showing an example of the positional relationship between the own vehicle and the vehicle ahead thereof. FIG. FIG. 4 is a schematic diagram showing an example of a positional relationship when a vehicle in front of a vehicle transmits braking information; 4 is a flowchart showing an example of processing by a processing unit according to one embodiment; 1 is a block diagram showing an example of a hardware configuration of a motorcycle according to one embodiment; FIG.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

Hereinafter, the front or rear in the front-rear direction of the motorcycle may be simply referred to as the front or rear, and the inner or outer side in the vehicle width direction (left-right direction) of the motorcycle may be simply referred to as the inner or outer. Also, in the case of a pair of left and right, there are cases where one of the left and right has been described and the other is not illustrated or the description thereof is omitted.

<Summary of motorcycles>
FIG. 1 is a left side view of a motorcycle 1 according to one embodiment of the invention. The motorcycle 1 is an off-road straddle-type vehicle, but the present invention can be applied to other types of motorcycles, and can be applied not only to vehicles using an internal combustion engine as a drive source, but also to vehicles using a motor as a drive source. It can also be applied to electric vehicles that The motorcycle 1 may be referred to as the vehicle 1 hereinafter.

Vehicle 1 includes a body frame 10 . The vehicle body frame 10 includes a head pipe 11 provided in the vehicle front portion, a pair of left and right main frames 12 , a down frame 13 , a pair of left and right lower frames 14 , and an extension portion 17 .

Vehicle 1 also includes a power unit 2 supported by body frame 10 . Power unit 2 includes, for example, an engine and a transmission. A fuel tank 3 supported by a vehicle body frame 10 is arranged above the power unit 2, and a seat 4 on which a rider (driver) sits is arranged immediately behind it.

Vehicle 1 includes a steering mechanism 20 for steering front wheels FW. The steering mechanism 20 is connected to the body frame 10 by passing the stem shaft through the head pipe 11 . Steering mechanism 20 includes a handlebar 24 .

A handle grip 241 that is gripped by the rider is provided at each of the left and right ends of the handle bar 24 . Further, the handlebar 24 is provided with a brake lever, a clutch lever, and the like (not shown) adjacent to the left and right handle grips 241 . Further, the handlebar 24 is provided with a gripping sensor 114 (see FIG. 2) capable of detecting whether or not the driver is gripping the handlebar grip.

A rear swing arm 19 is swingably supported by the main frame 12 . A rear wheel RW is supported at the rear end of the rear swing arm 19, and the rear wheel is driven by a chain (not shown) wound around a drive sprocket (not shown) of the power unit 2 and a driven sprocket (not shown) of the rear wheel RW. RW is rotationally driven.

An extension portion 17 is provided to extend forward from the head pipe 11 , and the display portion 108 is supported by the extension portion 17 . The display unit 108 displays various information such as vehicle speed, engine speed, and other vehicle conditions. For example, the display unit 108 may include a meter indicating vehicle speed, engine speed, and the like, a liquid crystal panel capable of displaying various information, an indicator, and the like. Further, in the present embodiment, when there is a possibility of collision with a forward vehicle or the like due to emergency braking of the forward vehicle or the like, the display unit 108 displays the fact to inform the rider. Left and right bar winkers (direction indicators) 34 are provided so as to protrude outward in the vehicle width direction from the sides of the display unit 108 .

<Control unit>
FIG. 2 is a block diagram showing an example of the hardware configuration of the vehicle 1. As shown in FIG. In particular, FIG. 2 shows a configuration related to notifying the rider of emergency braking information and the like of the preceding vehicle.

The control device 100 includes a processing unit 101 , a storage unit 102 such as a RAM or ROM, and an interface unit 103 that relays signal transmission/reception between an external device and the processing unit 101 . The processing unit 101 is a processor represented by a CPU, and executes programs stored in the storage unit 102 . In this embodiment, the processing unit 101 controls notification to the rider based on information from a communication device 105, a communication device 106, and other sensors, which will be described later. The storage unit 102 stores various data in addition to programs executed by the processing unit 101 . The interface unit 103 includes an input/output interface and a communication interface.

The communication device 105 is a wireless communication device that performs vehicle-to-vehicle communication or road-to-vehicle communication. For example, when the communication device 105 acquires position information, braking information, and the like of other vehicles, the communication device 105 transmits the information to the processing unit 101 . That is, the processing unit 101 can acquire information on other vehicles through the communication device 105 . A GPS sensor 118 detects the current position of the vehicle 1 . For example, the vehicle 1 can acquire the distance between the own vehicle and the other vehicle based on the position information of the other vehicle acquired by the communication device 105 and the current position of the own vehicle received from the GPS sensor 118 . The communication device 106 performs wireless communication with a server that provides map information, traffic information, weather information, for example, and acquires these information.

In this embodiment, the sensors mounted on the vehicle 1 include a forward detection sensor 110, a bank angle sensor 112, and a gripping sensor 114. FIG.

The forward detection sensor 110 acquires information forward of the vehicle 1 . For example, the forward detection sensor 110 is a millimeter-wave radar that detects objects around the vehicle 1 using radio waves, detects targets around the vehicle 1, and measures the distance to the target. Further, for example, the forward detection sensor 110 is an imaging device such as a camera that detects objects around the vehicle 1 by imaging. Demarcation lines (white lines, etc.) can be extracted. The vehicle 1 may be provided with either one or both of these as the forward detection sensor 110 .

A bank angle sensor 112 detects a bank angle (roll angle) of the vehicle 1 . The bank angle sensor 112 is, for example, an angular velocity sensor that detects the angular velocity (roll rate) of the vehicle 1 around the longitudinal axis. The processing unit 101 can obtain the running attitude of the vehicle 1 based on the detection result of the bank angle sensor 112 . The gripping sensor 114 detects whether or not the driver is gripping the handlebar grip 241 . For example, the grip sensor 114 may be a pressure sensor that detects pressure applied to the handlebar grip 241 by gripping by the driver. Note that the configuration of various sensors is an example, and can be changed as appropriate.

The processing unit 101 controls notification by the display unit 108 based on information acquired from the communication device 105, the communication device 106, and various sensors. For example, the processing unit 101 causes the display unit 108 to perform a notification prompting preparation for braking when the preceding vehicle performs emergency braking. Note that the mode of notification is not limited to this. For example, if the vehicle 1 has a speaker or the like, the processing unit 101 may cause the speaker or the like to output a warning sound or a message. Also, for example, the processing unit 101 may vibrate the handle grip 241 . Note that display on the display unit 108 and a combination thereof can also be adopted.

The functions of the control device 100 can be realized by both hardware and software. For example, the functions of the control device 100 may be realized by a CPU (Central Processing Unit) executing a predetermined program using a memory. Alternatively, the functions of the control device 100 may be implemented by known semiconductor devices such as PLDs (programmable logic devices) and ASICs (Application Specific Semiconductor Integrated Circuits). Also, although controller 100 is shown here as a single element, controller 100 may be divided into two or more elements, if desired.

<Processing example 1>
FIG. 3 is a flow chart showing an example of processing for notifying the emergency braking of the preceding vehicle by the processing unit 101 according to one embodiment. For example, this flowchart is implemented by the processing unit 101 reading and executing a program stored in the storage unit 102 . Further, for example, this flowchart is executed when the vehicle 1 has been started and is ready to run.

In S300, the processing unit 101 confirms whether or not the notification condition based on the forward detection sensor 110 is satisfied. For example, the notification conditions are that the relative distance between the preceding vehicle and the host vehicle detected by a millimeter-wave radar or imaging device as the forward detection sensor 110 is equal to or less than a predetermined value, the amount of change in the relative distance (i.e., the relative acceleration ) is equal to or greater than a predetermined value. Further, the notification condition may be that the inter-vehicle time obtained by dividing the inter-vehicle distance between the own vehicle and the preceding vehicle by the vehicle speed of the own vehicle is equal to or less than a predetermined value. If the notification condition is satisfied, the processing unit 101 proceeds to S306 to cause the display unit 108 to perform notification, and if the condition is not satisfied, the processing unit 101 proceeds to S301.

In S301, the processing unit 101 confirms whether or not the communication device 105 has acquired the braking information of the preceding vehicle. If the processing unit 101 confirms that the communication device 105 has acquired the braking information, the process proceeds to S302, and if it confirms that the communication device 105 has not acquired the braking information, the flowchart ends. For example, the processing unit 101 determines that the communication device 105 has acquired the braking information when receiving the braking information from the communication device 105 .

In this embodiment, the communication device 105 acquires the braking information through inter-vehicle communication with the preceding vehicle. However, it is also possible to employ a configuration in which the communication device 105 transmits braking information through road-to-vehicle communication. Braking information is, for example, emergency braking information transmitted to surrounding vehicles when a preceding vehicle brakes suddenly, and may include location information of the originating vehicle.

In S302, the processing unit 101 acquires various information related to the braking distance of the host vehicle. For example, the processing unit 101 acquires information received by the communication device 106 and detection results of the forward detection sensor 110, the bank angle sensor 112, the grip sensor 114, and the like.

At S303, the processing unit 101 confirms whether or not the braking distance of the vehicle 1 changes based on the information acquired at S302. If the processing unit 101 determines that the braking distance of the host vehicle will become longer, the processing unit 101 proceeds to S304, and if it determines that the braking distance does not become longer, the processing unit 101 proceeds to S305. Details of the determination will be described later.

In S304, the processing unit 101 changes a predetermined condition (described later) based on the information acquired in S303. For example, the processing unit 101 changes the conditions so that the predetermined conditions are easily satisfied based on the information related to the braking distance of the host vehicle acquired in S302.

In S305, the processing unit 101 checks whether or not the information regarding the possibility of collision between the vehicle 1 and the preceding vehicle satisfies a predetermined condition. The information related to the possibility of collision between the vehicle 1 and the forward vehicle is, for example, information related to the distance between the forward vehicle that transmitted the braking information and the own vehicle and information related to the speed of the own vehicle. The processing unit 101 advances to S306 if the condition is satisfied, and terminates the flowchart if the condition is not satisfied.

In S306, the processing unit 101 causes the display unit 108 to perform notification. That is, the processing unit 101 performs notification control to cause the display unit 108 to perform notification. After that, the processing unit 101 terminates the flowchart.

An example of information acquired in S302 will be described. In one embodiment, the processing unit 101 may acquire information regarding the driving environment of the vehicle 1 . For example, the processing unit 101 may acquire information about the weather received by the communication device 106 as information about the driving environment. Further, for example, the processing unit 101 may acquire information regarding construction work on the road on which the vehicle is currently traveling, received by the communication device 106, as information regarding the driving environment. Furthermore, for example, the processing unit 101 may acquire information on the presence or absence of a manhole cover or paint marking on the travel road as information on the travel environment using an imaging device as the forward detection sensor 110 .

Furthermore, in one embodiment, the processing unit 101 may obtain information regarding the motorcycle type of the vehicle 1 . For example, the processing unit 101 may acquire information about vehicle categories such as on-road vehicles and off-road vehicles.

Further, in one embodiment, the processing unit 101 may obtain information regarding vehicle conditions. For example, the processing unit 101 may acquire information regarding the bank angle of the vehicle 1 based on the detection result of the bank angle sensor 112 .

Furthermore, in one embodiment, the processing unit 101 may acquire information about the driver (driver information). For example, the processing unit 101 may acquire information about the driving skill of the driver. Examples of the information on driving skill may be information such as the frequency of sudden acceleration, sudden braking, and vehicle wobble. These pieces of information may be acquired based on the detection results of an acceleration sensor, an angular velocity sensor, or the like provided in the vehicle 1 . Further, for example, the processing unit 101 may acquire information about the gripping state of the handlebar grip 241 by the driver based on the detection result of the gripping sensor 114 .

The processing of S303 will be described in detail. In one embodiment, the processing unit 101 determines whether or not the braking distance at the current vehicle speed of the host vehicle will be longer based on the information acquired in S302. For example, the processing unit 101 may determine whether the braking distance becomes longer when the information acquired in S302 is taken into account, as compared with the standard braking distance for the vehicle speed.

For example, the processing unit 101 may obtain information about the weather from the communication device 106 and determine that the braking distance will be long when it predicts that the road will be wet due to bad weather such as rain or snow. Further, for example, when the processing unit 101 acquires information about construction work around the roadway through the communication device 106 and predicts that the road surface environment is slippery for the vehicle 1 due to sand, gravel, etc. after the construction work. may determine that the braking distance becomes longer. Furthermore, for example, the processing unit 101 may determine that the braking distance will be long when the imaging device as the forward detection sensor 110 detects that there is a manhole cover or a paint mark on the travel path. In addition, the processing unit 101 may determine whether or not the travel path is wet, or whether or not there is sand, gravel, or the like, using an imaging device.

For example, the processing unit 101 may acquire information about the type of motorcycle of the vehicle 1 and determine that the braking distance is long if the vehicle is in a vehicle category other than an off-road vehicle with high braking performance. Information about the type of motorcycle of the vehicle 1 is stored in the storage unit 102, for example. Further, for example, the processing unit 101 may determine that the braking distance is long when the bank angle acquired as the vehicle state is equal to or greater than a predetermined value.

In S303, the processing unit 101 confirms whether or not the braking distance increases. However, the processing unit 101 may check whether the distance until the vehicle 1 stops becomes longer, taking into account the time until the driver can perform the braking operation. For example, if information about driving skill is acquired as the driver information, and if the driving skill does not meet a certain standard, there is a possibility that the driver's decision will be delayed. You can judge. Further, for example, the processing unit 101 acquires the detection result of the gripping sensor 114, and when one or both of the left and right handlebar grips 241 are not gripped, the vehicle 1 assumes that it takes a long time to start the braking operation. It may be determined that the distance to stop becomes longer. Furthermore, for example, a seat sensor may be provided on the seat 4 of the vehicle 1 . When the processing unit 101 detects that the position of the center of gravity of the seated driver is displaced, the processing unit 101 determines that the time until the driver starts the braking operation becomes longer, and the distance until the vehicle 1 stops is calculated. may be determined to be longer.

The predetermined conditions in S304 and S305 will be described with reference to FIG. 4A. FIG. 4A is a schematic diagram showing an example of the positional relationship between the own vehicle and the preceding vehicle when notification is given by the process of FIG.

In the example of FIG. 4A, the forward vehicle 400 is a vehicle capable of inter-vehicle communication with surrounding vehicles. When the driver of the forward vehicle 400 performs a braking operation, the forward vehicle 400 transmits emergency braking information as braking information to surrounding vehicles if, for example, the following conditions are satisfied. That is, forward vehicle 400
Acceleration due to sudden braking < reference acceleration (1)
and,
Braking duration > reference time (2)
is satisfied, emergency braking information is transmitted to surrounding vehicles. The reference acceleration is an acceleration that serves as a reference for determining that sudden braking (sudden braking) has occurred. Since negative acceleration (deceleration) occurs during braking, both the acceleration due to sudden braking and the reference acceleration are negative values. Therefore, the formula (1) is satisfied when the deceleration due to sudden braking is greater than the reference value. Also, the reference time is a reference time for determining that the braking operation is sudden braking.

When the communication device 105 receives the emergency braking information as the braking information transmitted by the forward vehicle 400 , the communication device 105 transmits the received emergency braking information to the processing unit 101 . The processing unit 101 calculates the inter-vehicle distance d (m) between the forward vehicle 400 and the own vehicle from the position information of the forward vehicle 400 included in the received emergency braking information and the own vehicle position information acquired by the GPS sensor 118. do. Then, it is checked whether or not the inter-vehicle distance d and the vehicle speed v (km/h) of the own vehicle satisfy predetermined conditions (S305). As an example, the predetermined condition is
d<v/2 Expression (3)
and when the inter-vehicle distance d and the vehicle speed v satisfy the relationship of the formula (3) (S305 Yes), the display unit 108 is caused to perform notification (S306).

Note that the predetermined conditions are examples and can be designed as appropriate. For example, the right side of equation (3) may be multiplied by a predetermined coefficient, or the right side of equation (3) may be made proportional to the square of the vehicle speed v. Further, a predetermined condition may be set that the inter-vehicle time obtained by d/v is equal to or less than a predetermined value.

This predetermined condition can be changed based on the information acquired in S302 (S304). For example, when the processing unit 101 determines in S303 that the braking distance is long, the predetermined condition is d<(v/2)-x (4)
can be changed to where x is any positive number. That is, the processing unit 101 may shorten the threshold value of the inter-vehicle distance d that is notified according to the information acquired in S302. More specifically, the processing unit 101 may change the predetermined condition so that it is easier to satisfy the condition according to the information acquired in S302. Note that x may be a variable that changes continuously or stepwise according to the information acquired in S302. Further, the processing unit 101 sets a predetermined condition as d<y·v/2 (5)
can be changed to Here, y is an arbitrary number that satisfies 0<y<1. Also, y may be a variable that changes continuously or stepwise according to the information acquired in S302.

By changing the predetermined condition in this way, it becomes easier to notify the driver when the processing unit 101 determines that the braking distance is long. Therefore, it is possible to notify the driver according to the situation. Also, the above processing example is an example, and can be changed or omitted as appropriate.

<Processing example 2>
FIG. 4B is a schematic diagram showing an example of the positional relationship when the vehicle in front of the vehicle 1 transmits braking information. When the communication device 105 receives emergency braking information as braking information by vehicle-to-vehicle communication or road-to-vehicle communication, the communication device 105 receives only the preceding vehicle 411 (hereinafter simply referred to as the preceding vehicle 411) in the running order. Instead, braking information of two or more preceding vehicles (hereinafter collectively referred to as front vehicle 410) can also be acquired.

Here, it may be difficult for the driver to visually recognize the front vehicle 410 due to the presence of the front vehicle 411 . Therefore, in order to prepare for the braking operation, it is desirable that the notification based on the braking information of the front vehicle 410 is earlier than the notification based on the braking information of the front vehicle 411 . Further, when the notification is executed based on the braking information of the vehicle 410 in front, in addition to the inter-vehicle distance d between the vehicle 410 in front and the own vehicle, 411 must also be considered. From this point of view as well, it is desirable that the notification based on the braking information of the front vehicle 410 be earlier than the notification based on the braking information of the front vehicle 411 . Therefore, in processing example 2, an example will be described in which the timing of notification is changed depending on whether the braking information is from the vehicle in front or from the vehicle in front.

FIG. 5 is a flow chart showing an example of processing for notifying an emergency brake of a forward vehicle by the processing unit 101 according to an embodiment, and shows an example of processing for executing notification in consideration of the existence of a preceding vehicle. For example, this flowchart is implemented by the processing unit 101 reading and executing a program stored in the storage unit 102 . Further, for example, this flowchart is executed when the vehicle 1 has been started and is ready to run.

The processes of S500 through S502 correspond to the processes of S300 through S302, respectively. In S503, the processing unit 101 confirms whether or not the vehicle in front is suddenly braking.

At S503, the processing unit 101 confirms whether or not the braking information was obtained from the preceding vehicle at S501. As an example, the processing unit 101 acquires the inter-vehicle distance to the preceding vehicle based on the detection result of the forward detection sensor 110 such as a millimeter wave radar. Also, the processing unit 101 acquires the inter-vehicle distance from the vehicle that transmitted the braking information based on the information from the communication device 105 and the GPS sensor 118 . Then, the processing unit 101 compares these vehicle-to-vehicle distances to confirm whether or not braking information has been obtained from the preceding vehicle.

The processing unit 101 proceeds to S504 if the braking information has been acquired from the preceding vehicle, and proceeds to S505 if it has not been acquired from the preceding vehicle (if it has been acquired from the preceding vehicle).

In S504, the processing unit 101 changes the predetermined condition. In the example of expression (3), the predetermined condition is defined by the relationship between the speed v of the own vehicle and the inter-vehicle distance d from the forward vehicle 400 from which the braking information was obtained. However, when the braking information of the front vehicle 410 is acquired, it is necessary to consider the presence of the front vehicle 411 and execute the notification. Therefore, the processing unit 101 sets a predetermined condition as
(dz)<v/2 Expression (3)
may be where z is any positive number. Note that z may be a constant, or may be a variable that changes based on the detection result of the forward detection sensor 110 or information obtained from the communication device 105 and the GPS sensor 118 .

S505 through S508 are the same as S303 through S306.

According to the processing example described above, when the braking information of the front vehicle 410 is acquired, the predetermined condition is changed so that the condition can be easily satisfied. Therefore, when braking information is acquired from the vehicle 410 in front, which is difficult for the driver to visually recognize, the driver is notified earlier, and the driver can prepare for the braking operation.

<Second embodiment>
In the above embodiment, the control device 100 provided in the vehicle 1 controls the notification by the display unit 108 of the vehicle 1 . However, it is also possible to adopt a configuration in which an in-vehicle device that can be mounted in a vehicle notifies the driver. FIG. 6 is a block diagram showing an example of the hardware configuration of the in-vehicle device 6 according to the second embodiment.

The in-vehicle device 6 is a device that can be mounted on the vehicle 1, such as a car navigation system. Further, for example, the in-vehicle device 6 may be a terminal device such as a smart phone or a tablet terminal.

The control unit 600 includes a processing section 601 , a storage section 602 such as RAM and ROM, and an interface section 603 that relays signal transmission/reception between an external device and the processing section 601 . The processing unit 601 is a processor represented by a CPU, and executes programs stored in the storage unit 602 . In this embodiment, the processing unit 601 controls notification to the rider based on information from a communication device 605, a communication device 606, etc., which will be described later. The storage unit 602 stores programs executed by the processing unit 601 as well as various data. The interface unit 603 includes an input/output interface and a communication interface.

The communication device 605 is a wireless communication device that performs vehicle-to-vehicle communication or road-to-vehicle communication. For example, when the communication device 605 acquires position information and braking information of other vehicles, the communication device 605 transmits the information to the processing unit 601 . That is, the processing unit 601 can acquire information on other vehicles through the communication device 605 . A GPS sensor 618 detects the current position of the vehicle 1 . For example, the vehicle 1 can acquire the distance between the own vehicle and the other vehicle based on the position information of the other vehicle acquired by the communication device 605 and the current position of the own vehicle received from the GPS sensor 618 . The communication device 606 performs wireless communication with a server that provides, for example, map information, traffic information, weather information, etc., and acquires such information. A display unit 608 displays various information. As an example, the display unit 608 displays map information around the current position based on the current position information obtained by the GPS sensor 618 and the map information obtained by the communication device 606 . Further, in the present embodiment, when there is a possibility of collision with a forward vehicle or the like due to an emergency brake of the forward vehicle or the like, the display unit 608 displays a message to that effect to inform the rider.

The processing unit 601 of the in-vehicle device 6 can execute the processing of processing example 1 or processing example 2 shown in FIG. 3 or 5 by reading and executing the program stored in the storage unit 102 . Note that when the processing unit 601 performs the processing of the processing example 1 or the processing example 2, the processing based on the detection result of the forward detection sensor 110 of the vehicle 1 (S300, etc.) may be omitted. Further, for example, the detection result of the forward detection sensor 110 may be acquired from the vehicle 1 via the interface unit 603, and the processing of S300 and the like may be performed.

By installing such an in-vehicle device 6 in the vehicle 1 as well, it is possible to notify the driver according to the situation.

<Other embodiments>
Although the control device 100 is applied to a motorcycle in the first embodiment, the control device 100 may be applied to other vehicles such as a four-wheeled vehicle. In addition, in the second embodiment, the in-vehicle device 6 is mounted in a motorcycle, but the in-vehicle device may be mounted in another vehicle such as a four-wheeled vehicle.

In addition, in the first embodiment, the processing unit 101 changes the predetermined condition when it determines that the braking distance of the host vehicle is long. ), the predetermined conditions may be changed. As an example, the processing unit 101 may execute a process of changing a predetermined condition based on forward vehicle information before the process of S305.

Forward vehicle information may include, for example, information regarding the type of forward vehicle, ie, whether the forward vehicle is a motorcycle or a four-wheeled vehicle. For example, the processing unit 101 may acquire information about the type of forward vehicle from the communication device 105 . Further, for example, when the vehicle 1 includes an imaging device such as a camera capable of imaging the front, the processing unit 101 may determine the type of the forward vehicle based on the imaging result of the imaging device.

Further, the forward vehicle information may include information as to whether or not the forward vehicle is a motorcycle, and the motorcycle is overturned. For example, the processing unit 101 may acquire information about whether or not the motorcycle in front has overturned through the communication device 105 . Further, for example, when the vehicle 1 is equipped with an imaging device such as a camera capable of imaging the front, the processing unit 101 may determine whether or not the motorcycle in front has overturned based on the imaging result of the imaging device. .

The processing unit 101 may change the predetermined condition so that when the forward vehicle is a motorcycle, the predetermined condition is relaxed more than when the forward vehicle is a four-wheeled vehicle. As a result, the predetermined condition is relaxed in the case of a motorcycle having a longer braking distance than a four-wheeled vehicle, so the processing unit 101 can issue a more appropriate notification instruction according to the braking distance of the preceding vehicle.

In addition, the processing unit 101 may change the predetermined condition so that the predetermined condition is more likely to be satisfied when the motorcycle, which is the forward vehicle, is overturned than when it is not overturned. As a result, when the motorcycle in front of the vehicle has overturned, the notification is made more quickly, so that the driver can more quickly recognize the overturn of the vehicle in front.

The functions of control unit 600 can be realized by both hardware and software. For example, the functions of the control unit 600 may be realized by a CPU (Central Processing Unit) executing a predetermined program using memory. Alternatively, the functions of the control unit 600 may be implemented by known semiconductor devices such as PLDs (programmable logic devices) and ASICs (application-specific semiconductor integrated circuits). Also, although the control unit 600 is shown here as a single element, the control unit 600 may be split into two or more elements if desired.

(Summary of embodiment)
The above embodiment discloses at least the following control device, vehicle-mounted device, and program.

1. The vehicle control device of the above embodiment includes:
Applied to a vehicle (e.g. 1) including acquisition means (e.g. 105) for acquiring braking information of a preceding vehicle traveling in front of the own vehicle and notification means (e.g. 108) for notifying the driver of the own vehicle. a control device (e.g. 100) that
When the acquiring means acquires the braking information and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition (for example, S305), the notifying means notifies the notifying means. Notification control means (for example, 101, S306) for executing
condition changing means (for example, 101, S304) for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
Prepare.

According to this embodiment, the predetermined condition is changed based on the second information related to the braking distance of the own vehicle, unlike the first information, so that the driver is notified according to the situation. be able to.

2. In the above embodiment, when the condition changing means determines that the braking distance of the own vehicle is longer based on the second information (for example, S303), the predetermined condition is more likely to be satisfied. changing the predetermined condition;

According to this embodiment, the driver can be notified earlier when the braking distance of the own vehicle becomes longer.

3. In the above-described embodiment, the first information includes information about the distance between the preceding vehicle that transmitted the braking information and the own vehicle and information about the speed of the own vehicle.

According to this embodiment, it is possible to control the notification to the driver under conditions based on the inter-vehicle distance and the vehicle speed.

4. In the above embodiment, the second information is information about the driving environment of the vehicle.

According to this embodiment, it is possible to notify the driver according to the driving environment.

5. In the above embodiment, the information based on the driving environment includes information on weather.

According to this embodiment, it is possible to notify the driver according to the weather. Therefore, when the road is wet due to bad weather such as rain or snow, the driver can be notified according to the road surface environment.

6. In the above-described embodiment, the information based on the travel environment includes information regarding construction work on the travel route of the vehicle.

According to this embodiment, it is possible to notify the driver according to the road surface environment such as sand or gravel after construction where the vehicle is slippery.

7. In the above embodiment, the information based on the traveling environment includes information about the presence or absence of manhole covers or paint markings on the traveling road of the motorcycle.

According to this embodiment, it is possible to control the notification to the driver according to the presence or absence of the manhole cover or the paint mark on which the vehicle is slippery.
can.

8. In the above embodiments, the vehicle is a motorcycle.

According to this embodiment, it is possible to notify the driver according to the situation in the motorcycle.

9. According to the above embodiment, the second information includes information regarding the type of the motorcycle.

According to this embodiment, the vehicle can be notified according to the braking performance of the vehicle.
can.

10. In the above embodiment, the second information includes information regarding the bank angle of the motorcycle.

According to this embodiment, notification to the driver can be controlled according to the bank angle.

11. In the above embodiment, the second information includes information about the driving skill of the motorcycle driver.

According to this embodiment, it is possible to perform notification according to the driving skill of the driver.

12. In the above embodiment, the second information includes information about the gripping state of the handlebar of the motorcycle by the driver.

According to this embodiment, it is possible to notify the driver according to the time until the braking operation becomes possible.

13. In the above embodiment, the acquisition means acquires the braking information through inter-vehicle communication with the preceding vehicle.

According to this embodiment, it is possible to contact the driver according to the information acquired by the vehicle-to-vehicle communication.

14. In the above-described embodiment, the preceding vehicle is the preceding vehicle that precedes the own vehicle by two vehicles in the running order.

According to this embodiment, it is possible to make a notification based on the braking information of the preceding vehicle, which is difficult for the driver to visually recognize.

15. In the above embodiment, the condition changing means changes the predetermined condition based on the third information regarding the preceding vehicle.

According to this embodiment, it is possible to make a notification based on information related to the forward vehicle.

16. In the above embodiment, the third information includes information about whether the forward vehicle is a motorcycle or a four-wheeled vehicle,
The condition changing means changes the predetermined condition such that when the forward vehicle is a motorcycle, the predetermined condition is relaxed more than when the forward vehicle is a four-wheeled vehicle.

According to this embodiment, in the case of a two-wheeled motor vehicle with a longer braking distance than a four-wheeled vehicle, the prescribed conditions are relaxed, so the notification control means issues a more appropriate notification instruction according to the braking distance of the preceding vehicle. be able to.

17. In the above embodiment, the third information includes information regarding whether or not the motorcycle, which is the preceding vehicle, is overturned when the preceding vehicle is a motorcycle,
The condition changing means changes the predetermined condition so that the predetermined condition is more likely to be satisfied when the motorcycle, which is the forward vehicle, has overturned than when it has not overturned.

According to this embodiment, when the motorcycle in front of the vehicle has overturned, the notification is given more quickly, so that the driver can more quickly recognize the overturn of the vehicle in front.

18. The in-vehicle device of the above embodiment includes:
An in-vehicle device (for example, 6) that can be mounted on a motorcycle,
Acquisition means (for example, 605) for acquiring braking information of a preceding vehicle traveling in front of the own vehicle in which the in-vehicle device is mounted;
A notification means (for example, 608) that notifies the driver of the own vehicle;
When the acquiring means acquires the braking information and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. a control means (eg 601);
condition changing means (for example, 601) for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
Prepare.

According to this embodiment, the predetermined condition is changed based on the second information related to the braking distance of the own vehicle, unlike the first information, so that the driver is notified according to the situation. be able to.

19. The program of the above embodiment is
the computer,
Acquisition means (for example, 605) for acquiring braking information of a preceding vehicle traveling ahead;
Notification means for notifying the driver of the vehicle (eg 610),
When the acquiring means acquires the braking information and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. control means (e.g. 601),
Condition changing means (for example, 601) for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
function as

According to this embodiment, the predetermined condition is changed based on the second information related to the braking distance of the own vehicle, unlike the first information, so that the driver is notified according to the situation. be able to.

The invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the invention.

1 straddle-type vehicle, 101 processing unit, 105 communication device

Claims (16)

A control device applied to a vehicle including acquisition means for acquiring braking information of a preceding vehicle traveling in front of the own vehicle and notification means for notifying the driver of the own vehicle,
When the acquiring means acquires the braking information, and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. a control means ;
condition changing means for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information ;
with
the vehicle is a motorcycle;
The control device, wherein the second information includes information about the driving skill of the motorcycle driver, or information about the gripping state of the steering wheel by the driver while driving the motorcycle. The condition changing means changes the predetermined condition so that the predetermined condition is more likely to be satisfied when it is determined that the braking distance of the own vehicle is longer based on the second information. 2. Control device according to claim 1. The first information includes information on the distance between the preceding vehicle that transmitted the braking information and the host vehicle and information on the vehicle speed of the host vehicle,
The predetermined condition is that the distance between the preceding vehicle that transmitted the braking information and the own vehicle and the vehicle speed of the own vehicle have a predetermined relationship.
3. The control device according to claim 1 or 2, characterized in that: 4. The control device according to any one of claims 1 to 3, wherein the second information includes information about the driving environment of the vehicle. 5. The control device according to claim 4, wherein the information based on the driving environment includes information on weather. 6. The control device according to claim 4, wherein the information based on the traveling environment includes information about construction work on the traveling road of the vehicle. 7. The control device according to any one of claims 4 to 6, wherein the information based on the driving environment includes information on the presence or absence of manhole covers or paint markings on the road on which the vehicle is running. 8. The control device according to any one of claims 1 to 7, wherein the second information includes information on the type of the motorcycle. 9. The control device according to any one of claims 1 to 8, wherein said second information includes information regarding a bank angle of said motorcycle. 10. The control device according to any one of claims 1 to 9 , wherein the acquisition means acquires the braking information through inter-vehicle communication with the preceding vehicle. 11. The control device according to claim 10 , wherein the preceding vehicle is a preceding vehicle that precedes the host vehicle by two vehicles in running order. 12. The control device according to any one of claims 1 to 11 , wherein said condition changing means changes said predetermined condition based on third information relating to said preceding vehicle. The third information includes information about whether the preceding vehicle is a motorcycle or a four-wheeled vehicle,
The condition changing means changes the predetermined condition so that when the forward vehicle is a motorcycle, the predetermined condition is relaxed more than when the forward vehicle is a four-wheeled vehicle. 13. A control device according to claim 12 . The third information includes information regarding whether or not the motorcycle, which is the preceding vehicle, is overturned when the preceding vehicle is a motorcycle;
The condition changing means changes the predetermined condition so that the predetermined condition is more likely to be satisfied when the motorcycle, which is the forward vehicle, has overturned than when it has not overturned. 14. Control device according to claim 12 or 13 . An in-vehicle device that can be mounted on a vehicle,
Acquisition means for acquiring braking information of a preceding vehicle traveling in front of the own vehicle in which the in-vehicle device is mounted;
a notification means for notifying the driver of the own vehicle;
When the acquiring means acquires the braking information and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. a control means ;
condition changing means for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
with
the vehicle is a motorcycle;
The vehicle-mounted device, wherein the second information includes information about the driving skill of the motorcycle driver, or information about the driver's gripping state of the steering wheel while driving the motorcycle. Acquisition means for acquiring braking information of a preceding vehicle traveling in front;
A vehicle computer equipped with a notification means for notifying the driver of the vehicle,
When the acquiring means acquires the braking information and the first information relating to the possibility of collision between the own vehicle and the preceding vehicle satisfies a predetermined condition, the reporting means is caused to perform the reporting. control means,
Condition changing means for changing the predetermined condition based on second information related to the braking distance of the own vehicle, different from the first information;
A program for functioning as each means of
the vehicle is a motorcycle;
The program, wherein the second information includes information about the driving skill of the motorcycle driver, or information about the gripping state of the steering wheel by the driver while driving the motorcycle.

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