Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/18—Propelling the vehicle
  • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/143—Speed control
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/50—Context or environment of the image
  • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
  • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/60—Type of objects
  • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
  • G06V20/625—License plates
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2300/00—Indexing codes relating to the type of vehicle
  • B60W2300/36—Cycles; Motorcycles; Scooters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/403—Image sensing, e.g. optical camera
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/402—Type
  • B60W2554/4026—Cycles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/404—Characteristics
  • B60W2554/4041—Position
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/406—Traffic density
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
  • G06V2201/08—Detecting or categorising vehicles

Definitions

• This disclosure relates to a control device and control method capable of optimizing adaptive cruise control in group travel.
• Patent Document 1 a motorcycle rider is notified that he or she is inappropriately approaching an obstacle based on information detected by a sensor device that detects the obstacle in the direction of travel or substantially in the direction of travel.
• a driver assistance system is disclosed that alerts a
• Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-116882 [Summary of the Invention]
• the present invention has been made against the background of the above problems, and provides a control device and control method capable of optimizing adaptive cruise control in group travel.
• a control device is a control device for controlling the behavior of a motorcycle, and automatically adjusts the speed of the motorcycle without depending on the speed reduction operation by the rider of the motorcycle.
• the executing unit executes a group traveling mode, which is a mode of the adaptive cruise control performed during the group traveling, based on the traveling state information of the other vehicle specified by the specifying unit.
• a control method is a method for controlling the behavior of a motorcycle, wherein an execution unit of a control device controls the operation of the motorcycle without depending on an acceleration/deceleration operation by a rider of the motorcycle.
• Adaptive Cruise Control which automatically controls the speed and performs inter-vehicle distance maintenance control to maintain the inter-vehicle distance between the motor cycle and the target vehicle at the target distance, is based on the surrounding environment information of the motor cycle.
• the acquisition unit of the control device captures image data of other vehicles that are traveling in the same group as the own vehicle in a group travel in which a group consisting of a plurality of motorcycles travels.
• the specifying unit of the control device specifies the rain on the other vehicle based on the imaging data acquired by the acquiring unit.
• the execution unit selects a mode of the adaptive cruise control performed during the group travel; ⁇ 0 2022/229791 ⁇ (: 17162022/053667)
• the group running mode is executed based on the running state information of the other vehicle specified by the specifying unit.
• the execution unit of the control device automatically controls the speed of the motorcycle without depending on the calorie deceleration operation by the rider of the motorcycle.
• adaptive cruise control that performs inter-vehicle distance maintenance control to maintain the inter-vehicle distance between the vehicle and the target vehicle at the target distance based on the surrounding environment information of the motorcycle;
• the identification unit of the control device Based on the output result of the camera that has been captured, the identification unit of the control device identifies the other vehicle based on the image data obtained by the acquisition unit, and execution 5 is adaptive processing performed during group travel.
• a group running mode which is a mode of cruise control, is executed based on the running state information of the other vehicle specified by the specified item 5.
• the group travel mode can be appropriately executed according to the traffic conditions around the own vehicle. Therefore, the adaptive cruise control of the motorcycle can be properly executed in group traveling.
• FIG. 1 is a schematic diagram showing a schematic configuration of a motorcycle according to an embodiment of the present invention.
• FIG. 2 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention
• FIG. 3 is a diagram showing how a group including motorcycles according to the embodiment of the present invention is traveling in a group.
• FIG. 5 is a diagram showing a group of motorcycles traveling straight ahead according to the embodiment of the present invention. ⁇ 02022/229791 ⁇ (:17162022 /053667
• Fig. 6 is a diagram showing a state in which a group including motorcycles according to the embodiment of the present invention is running in force.
• Fig. 7 is a diagram showing how the detection range of ambient environment information used for adaptive cruise control performed by the motorcycle according to the embodiment of the present invention changes.
• control device used for a two-wheeled motorcycle (see motorcycle 1 in FIG. 1)
• the control device according to the present invention is a two-wheeled motorcycle. It may be used for motorcycles other than motorcycles (for example, three-wheeled motorcycles, etc.).
• motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, and the like.
• an engine specifically, engine 11 in FIG. 1 described later
• a drive source other than the engine for example, an electric motor
• a plurality of drive sources may be mounted.
• FIG. 1 A configuration of a motorcycle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
• FIG. 1 A configuration of a motorcycle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
• FIG. 1 A configuration of a motorcycle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
• FIG. 1 A configuration of a motorcycle 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
• FIG. 1 is a schematic diagram showing the configuration of each phase of a motorcycle 1.
• a motorcycle 1 includes an engine 11, a hydraulic control unit 12, a display device 13, an ambient environment sensor 14, a camera 15, and an input device 16. , a front wheel speed sensor 17, a rear wheel speed sensor 18, a pick-up plate 19, and a control device (3 II) 20.
• the vehicle 1 is also referred to as the own vehicle 1 ' .
• the engine 11 corresponds to an example of the drive source of the motorcycle 1, and can output power for driving the wheels.
• the engine 11 is provided with one or more cylinders in which combustion chambers are formed, fuel injection valves that inject fuel toward the combustion chambers, and spark plugs.
• a mixture containing air and fuel is formed in the combustion chamber by injecting fuel from the fuel injection valve, and the mixture is ignited by the spark plug and burned.
• the piston provided in the cylinder reciprocates and the crankshaft rotates.
• an intake pipe of the engine 11 is provided with a throttle valve, and the amount of intake air into the combustion chamber changes according to the throttle opening, which is the opening of the throttle valve.
• the hydraulic pressure control unit 12 is a unit responsible for controlling the braking force generated on the wheels.
• the hydraulic pressure control unit 12 is provided on an oil passage connecting the master cylinder and the wheel cylinders, and includes components (eg, control valves and pumps) for controlling the brake hydraulic pressure of the wheel cylinders.
• the hydraulic pressure control units 1 and 2 may control the braking forces generated on both the front wheels and the rear wheels, respectively, and control only the power generated on one of the front wheels and the rear wheels. It may be something to do.
• the display device 13 has a display function of visually displaying information.
• Examples of the display device 13 include a liquid crystal display or a lamp. ⁇ 02022/229791 ⁇ (:17132022/053667
• the ambient environment sensor 14 detects ambient environment information about the environment around the motorcycle 1 . Specifically, the ambient environment sensor 14 is provided on the front end of the motorcycle 1 and detects ambient environment information ahead of the own vehicle 1 .
• the ambient environment information detected by the ambient environment sensor 14 is information related to the distance or direction to a subject located around the motorcycle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), and characteristics of the subject located around the motorcycle 1 (e.g., type of subject, shape of the subject itself, marks attached to the subject). etc.).
• Ambient environment sensors 14 are, for example, radar-.I ⁇ 63" sensors, ultrasonic sensors, cameras and the like.
• the camera 1 5 is provided on the front arm 5 of the moon body of the motorcycle 1 and faces forward. Camera 1 5 captures the front of motorcycle 1 .
• An example in which the motorcycle 1 is provided with a camera 15 that captures an image of the front of the motorcycle 1 will be mainly described below. However, as will be described later, the imaging direction of camera 15 is not limited to the front of motorcycle 1 .
• the camera 15 may function as the surrounding environment sensor 14. In that case, the function of the camera 15 and the function of the ambient environment sensor 14 can be realized by the same device.
• the input device 16 receives various operations by the rider.
• the input device 16 includes, for example, a push button provided on the steering wheel and used for operation by the rider.
• Information regarding the rider's operation using the input device 16 is output to the control device 20 .
• the front wheel speed sensor 17 is a wheel that detects the wheel speed of the front wheels (for example, the number of revolutions per unit time of the front wheels, or the distance traveled per unit time, etc.).
• the front wheel speed sensor 17 may detect other physical quantities that can be substantially converted to the wheel speed of the front wheels.
• the speed sensor 17 is provided in the front vehicle. ⁇ 2022/229791 ⁇ (:17132022/053667
• the rear wheel speed sensor 18 detects the wheel speed of the rear wheels (for example, the number of rotations of the rear wheels per unit time [", or the distance traveled per unit time [/ ], etc.). It is a wheel speed sensor that detects and outputs the detection result.
• the rear wheel speed sensor 18 may detect other physical quantities that can be substantially converted to the wheel speed of the rear wheels.
• a vehicle speed sensor 18 is provided on the rear vehicle.
• the number plate 19 is provided on the rear part 5 of the motor cycle 1 . An identification number unique to the vehicle is displayed on the number plate 19.
• the control device 20 controls the behavior of the motorcycle 1 .
• part or all of the control device 20 is composed of a microcomputer, a microphone, a processor unit, and the like.
• one or all of the controllers 20 may be composed of updateable items such as firmware, and may be program modules or the like that are executed by commands from the controller 20, etc. good too.
• Control device 20 may be, for example, one or may be divided into a plurality of devices.
• FIG. 2 is a block diagram showing an example of the functional configuration of the control device 20.
• the control device 20 includes, for example, an acquisition command 521, an execution command 522, and a specific command 523. Also, the control device 20 is commonly referred to as each device of the motorcycle 1 .
• the acquisition unit 21 acquires information from each device of the motorcycle 1 and outputs the information to the execution unit 22 and the identification unit 23 .
• the acquisition unit 21 acquires information from an ambient environment sensor 14, a camera 15, an input device 16, a front wheel speed sensor 17, and a rear wheel speed sensor 18.
• acquisition of information may include extraction or generation of information.
• the acquisition unit 21 captures an image of another vehicle that is traveling in the same group as the own vehicle 1.
• ⁇ 02022/229791 (: 17132022/053667) Data is acquired based on the output result of camera 15. Used for specific processing.
• Execution unit 522 executes various controls by controlling the operation of each device of motorcycle 1 .
• the execution unit 22 controls operations of the engine 11, the hydraulic control unit 12, and the display device 13, for example.
• the executive 5 2 2 can execute adaptive cruise control.
• adaptive cruise control the executive 522 automatically controls the speed of the motorcycle 1 without relying on the rider's caro deceleration operations (that is, accelerator and brake operations).
• the execution unit 22 sets the speed of the motorcycle 1 to a preset value by monitoring the speed of the motorcycle 1 obtained based on, for example, the wheel speed of the front wheels and the vehicle speed of the rear wheels. The speed can be controlled so as not to exceed the upper limit speed.
• the execution unit 522 carries out inter-vehicle distance maintenance control to maintain the inter-vehicle distance between the motorcycle 1 and the target vehicle at the target distance.
• the execution unit 22 performs vehicle-to-vehicle distance maintenance control based on the ambient environment information detected by the ambient environment sensor 14 .
• the ambient environment sensor 14 can detect the distance between the preceding vehicle traveling in front of the motorcycle 1 and the motorcycle 1, and the relative speed of the motorcycle 1 to the preceding vehicle.
• the execution unit 22 sets the preceding vehicle as the target vehicle in inter-vehicle distance maintenance control, for example, and controls the speed of the motorcycle 1 so that the inter-vehicle distance to the preceding vehicle is maintained at the target distance.
• the inter-vehicle distance may mean a distance along a lane (specifically, the lane in which motorcycle 1 travels), or may mean a distance in a straight line.
• Executor 522 executes adaptive cruise control in response to a rider's operation using input device 16, for example.
• the rider can select the group driving mode as the adaptive cruise control mode.
• execution 522 executes adaptive cruise control in response to a rider's operation using input device 16, for example.
• the rider can select the group driving mode as the adaptive cruise control mode.
• execution 522 executes adaptive cruise control in response to a rider's operation using input device 16, for example.
• the rider can select the group driving mode as the adaptive cruise control mode.
• execution 522 executes adaptive cruise control in response to a rider's operation using input device 16, for example.
• the rider can select the group driving mode as the adaptive cruise control mode.
• the group travel mode is selected and executed during group travel. That is, glue ⁇ 02022/229791 ⁇ (: 17132022/053667)
• the group driving mode is a mode of adaptive cruise control that is performed during group driving.
• the group driving mode is a mode of adaptive cruise control that is particularly suitable for group driving. For example, in group driving mode, the target distance in inter-vehicle distance maintenance control is set to be small.
• the specifying unit 23 specifies the other vehicle based on the captured data of the other vehicle that is running in the same group as the own vehicle 1 and is running in a group.
• the identification unit 23 outputs the identification result to the execution unit 22.
• group traveling a group consisting of multiple motorcycles runs in multiple vehicles. Below, with reference to FIG. 3, the requirements for group traveling will be described.
• FIG. 3 is a diagram showing how a group including a motorcycle 1 (that is, a vehicle 1) is traveling in a group.
• a group including a motorcycle 1 (that is, a vehicle 1) is traveling in a group.
• FIG. 3 in group travel, multiple motorcycles travel in two columns, one on the left side and the other on the right side, in the same lane. do.
• the other vehicle 2 ⁇ and the other vehicle 20 constitute the left convoy.
• Other vehicle 2 and other vehicle 2 are lined up in this order from the front.
• the other vehicle 28, the own vehicle 1 and the other vehicle 2*1 constitute the right lane.
• the other vehicle 23, the own vehicle 1 and the other vehicle 2*1 are lined up on this page from the front in the front-rear direction.
• the motorcycle that constitutes the left vehicle lane 0 and the motorcycle that constitutes the right vehicle lane 0 alternately in the front-rear direction.
• Multiple motorcycles run in a side - by-side arrangement (that is, a zigzag arrangement).
• Other vehicles 2 ⁇ 1 in the convoy are lined up in this order from the front.
• the execution unit 22 selects the group traveling mode, which is the mode of adaptive cruise control performed during group traveling, according to the identification code 523. It is executed based on the running state information of the other vehicle 2.
• the identifying unit 23 identifies the other vehicle 2 based on the imaging data in which the other vehicle 2 is captured. As a result, appropriate execution of adaptive cruise control for motorcycle 1 is achieved during group travel.
• the running state information may include various information regarding the running state of the vehicle (for example, vehicle position, speed, acceleration, etc.). The details of the processing related to group traveling performed by the control device 20 will be described later.
• the identification person 523 identifies the other vehicle 2 based on the imaging data in which the other vehicle 2 is captured. Specifically, the specifying unit 23 extracts the unique information of the other vehicle 2 as the other vehicle unique information based on the imaging data in which the other vehicle 2 is captured. Then, the identifying unit 23 identifies the other vehicle 2 by comparing the extracted other vehicle specific information with the group vehicle specific information that is obtained in advance and is the specific information of the vehicles in the group. do.
• the identification unit 23 extracts the specific information of the vehicle (that is, the other vehicle candidate that is the candidate for the other vehicle 2) captured in the imaging data as the other vehicle specific information, and extracts the extracted other vehicle specific information. matches or resembles any of the unique information included in the group vehicle unique information, the vehicle photographed in the imaging data is specified as the second vehicle. ⁇ 2022/229791 ⁇ (:17132022/053667
• the unique information is unique information given to each vehicle, and is information that can identify each vehicle.
• information of the number plate 19 hereinafter also referred to as number plate information
• the specifying unit 23 may perform the process of specifying the other vehicle 2 using unique information other than the pick-up information.
• FIG. 4 is a flow chart showing an example of the flow of processing relating to group travel performed by the control device 20. As shown in FIG. The control flow shown in FIG. 4 is, for example, repeatedly executed at preset time intervals. Step 5101 in FIG. 4 corresponds to the start of the control flow shown in FIG. Step 5108 in FIG. 4 corresponds to the end of the control flow shown in FIG.
• step 5102 the control device 20 semi-determines whether or not the group running mode is being executed. do. If it is semi-determined that the group travel mode is being executed (step 5102/5), proceed to step 5103. On the other hand, if it is determined that the group running mode is not being executed (step 5102/1 ⁇ 10), the control flow shown in FIG. 4 ends.
• step 5 1 0 2 half-determines ⁇ ⁇ 5, in step 5 1 0 3, acquisition unit 2 1 of control device 2 0 captures an image based on the output result of camera 1 5 Get data. As a result, the acquisition unit 21 can acquire image data of the other vehicle 2 based on the output result of the camera 15 .
• the acquisition unit 21 acquires the imaged data regardless of whether or not the other vehicle 2 is captured in the imaged data obtained by the camera 15. to get When the other vehicle 2 is positioned within the field of view of the camera 15, the other vehicle 2 is captured in the captured image data. Incidentally, when the other vehicle 2 is not positioned within the field of view of the camera 15, the other vehicle 2 is not captured in the captured image data.
• the vehicle shown in the imaging data is just another vehicle candidate (that is, another vehicle 2 candidate). In other words, imaging data ⁇ 02022/229791 ⁇ (:17132022/053667)The vehicle reflected may be another vehicle 2, or it may be a vehicle outside the group.
• step 5104 the specifying unit 23 of the control device 20 identifies the vehicle imaged in the imaging data based on the imaging data acquired in step 5103.
• the license plate information of the vehicle is extracted as other vehicle specific information.
• the identifying unit 23 extracts a vehicle from the imaging data acquired in step 5103, and extracts pick-up play information from an area in which the vehicle is captured in the imaging data. .
• the number plate information is information indicating the identification number displayed on the number plate 19 .
• the specific child 523 can recognize the identification number displayed on the license plate 19 of the vehicle shown in the imaged data by performing image processing on the acquired imaged data. Specifically, the specific child 523 can recognize the identification number of the license plate 19 appearing in the imaging data by using a technique such as pattern matching processing.
• the identification unit 2 3 of the control device 20 executes identification processing of the other vehicle 2 .
• the identification unit 23 uses the pick-up plan information (that is, the information specific to the other vehicle) extracted in step 5104 and the information of the vehicles in the group acquired in advance.
• the other vehicle 2 is identified by comparing it with the pick-up information (that is, group vehicle-specific information).
• the acquisition unit 21 acquires license plate information of each vehicle in the group as group vehicle specific information, for example, based on the information of the setting operation by the rider of the own vehicle 1 .
• the setting operation is an operation for setting various information, and is received by the input device 16, for example.
• information indicating the identification number of the license plate 19 of each vehicle in the group is input by the rider using the input device 16.
• the information thus input is stored in the storage element of the control device 20 as group vehicle specific information. ⁇ 02022/229791 ⁇ (:17132022/053667
• an input screen for accepting a setting operation may be displayed on the display device 13, and the setting operation may be performed using the input screen.
• the setting operation can be performed by using the rider's clothing (eg, helmet, etc.) or the wireless terminal (eg, smartphone, etc.) carried by the rider instead of the input device 16 mounted on the motorcycle 1.
• the setting operation may be an operation by the rider's finger or an operation by voice input.
• the identifying unit 23 determines the number plate information of each vehicle in the group in which the pick-up plate information extracted from the imaging data is acquired in advance as the group vehicle-specific information. If it matches or resembles any one of them, the vehicle captured in the captured data is specified as the other vehicle 2 .
• the pick-up plate information extracted from the imaging data is only part of the identification number of the pick-up plate 19 shown in the imaging data. For example, it is assumed that the number of digits of the identification number indicated by the extracted pick-up plate information is smaller than the number of digits of the identification number actually displayed on the pick-up plate 19 . In this case, if there is an identification number that partially matches the identification number extracted from the imaging data among the identification numbers stored as the group vehicle specific information, the specific number 523 , the vehicle captured in the imaging data may be specified as the other vehicle 2 .
• the acquisition unit 21 automatically acquires the pick-up plan information of each vehicle in the group as the group vehicle specific information without depending on the setting operation by the rider of the own vehicle 1.
• the acquirer 521 extracts license plate information from imaging data obtained by the camera 15 while the vehicle is running, as a separate process from the control flow shown in FIG. Then, when the same license plate information is continuously extracted for a predetermined time or longer, the acquirer 521 acquires the license plate information as group vehicle specific information. In this way, group vehicle specific information may be automatically acquired and constructed.
• step 5106 the control device 20 determines whether or not the other vehicle 2 has been specified by the specifying unit 23. If it is determined that the other vehicle 2 has been identified by the identification unit 23 (step 5106/Tsumi5), proceed to step 5107. On the other hand, it is determined that the other vehicle 2 has not been identified by the identification unit 23. If (step 5 1 0 6 / 1 ⁇ 1 0), the control flow shown in Figure 4 ends.
• step 5 1 0 7 If it is determined to be 5 in step 5 1 0 6, in step 5 1 0 7, the execution unit 2 2 of the control device 2 0 identifies the other vehicle 2 identified by the identification unit 2 3 Based on this running state information, the group running mode is executed, and the control flow shown in FIG. 4 ends.
• the other vehicle 2 is specified by the specifying unit 23 based on the imaging data in which the other vehicle 2 is captured.
• the acquisition unit 21 can acquire the running state information of the other vehicle 2 identified by the identification unit 23 based on the output result of the ambient environment sensor 14, for example. Therefore, the executing section 22 can execute the group traveling mode based on the traveling state information of the other vehicle 2 specified by the specifying section 23.
• the other vehicle 2 may be mistakenly specified as a rain vehicle outside the group.
• the other vehicle 2 is specified based on the imaging data obtained by the camera 15, so the other vehicle 2 can be specified appropriately. Therefore, when group traveling is being performed, the group traveling mode can be appropriately executed according to the traffic conditions around the own vehicle 1 .
• the execution command 522 is based on the traveling state information of the plurality of other vehicles 2. Based on this, it is preferable to execute the group driving mode.
• the executioner 522 executes inter-vehicle distance maintenance control based on the driving state information of the plurality of other vehicles 2 in the group driving mode. An example in which inter-vehicle distance maintenance control is executed based on the running state information of a plurality of other vehicles 2 will be described below.
• the train in which own vehicle 1 is located is also referred to as own vehicle train.
• the other vehicle 28 and the other vehicle 200 are also referred to as own train vehicles.
• a vehicle train different from the one in which the own vehicle 1 is located is also referred to as another vehicle train .
• the other vehicle 2 (in the example of FIG. 3, the other vehicle 2 13 and the other vehicle 2 O) are also referred to as other train vehicles ' . Based on the position relative to the own vehicle 1, it is possible to discriminate between the own train and the other train.
• Execution station 522 sets the target vehicle for inter-vehicle distance maintenance control based on the traveling state information of other vehicle 2 specified by specific station 523 in the group traveling mode. good too.
• the execution unit 22 sets the own train vehicle as the target vehicle for inter-vehicle distance maintenance control in the group running mode, and, under certain circumstances, changes the target vehicle from the own train vehicle to another vehicle. You may switch to a train car.
• FIGS. 5 and 6 an example of a situation in which the target vehicle is switched to rain will be described.
• FIG. 5 is a diagram showing a state in which a group including motorcycle 1 (that is, host vehicle 1) is traveling straight ahead.
• own vehicle 1 and other vehicles 2 8, 2 13, 2 (;, 2 ⁇ ) are traveling on a straight road in the same arrangement as in Fig. 3.
• the straight road is This road has a radius of curvature large enough not to affect the driving operation of Motorcycle 1.
• the own vehicle line is on the right side, and the other vehicle line is on the left side.
• Other vehicles 2 8 and 2 correspond to own train vehicles, and other vehicles 2 13 and 2 correspond to other train vehicles.
• the execution unit 22 basically selects the other vehicle 2, which is the closest vehicle to the own vehicle 1 among the own train vehicles positioned in front of the own vehicle 1. 3 is set as the target vehicle for inter-vehicle distance maintenance control. In this case, the inter-vehicle distance between own vehicle 1 and other vehicle 23 is maintained at the target distance.
• the execution unit 22 in a state where the inter-vehicle distance between the own vehicle 1 and the other train vehicle is below the distance lower limit value (that is, when it is below), Set as the target vehicle for inter-vehicle distance maintenance control.
• the execution unit 22 is the closest vehicle to the own vehicle 1 among the other train vehicles positioned in front of the own vehicle 1. ⁇ 02022/229791 ⁇ (:17132022/053667
• the target vehicle is switched from other vehicle 2 3 to other vehicle 2 ⁇ .
• the lower limit of the distance is set to a value that can be half a pound if the own vehicle 1 is approaching the other vehicle 2 centimeters to the extent that there is a possibility of overtaking the other vehicle 2 centimeters.
• the inter-vehicle distance between the own vehicle 1 and the other vehicle 213 is maintained at the target distance.
• the execution unit 22 determines the distance between the own vehicle 1 and the other vehicle 2 based on the relative speed of the own vehicle 1 with respect to the other vehicle 2 13. Control speed. As a result, the own vehicle 1 is prevented from overtaking the other vehicle 2 ⁇ , so that the group including the own vehicle 1 runs in a zigzag arrangement.
• FIG. 6 is a diagram showing a state in which a group including motorcycle 1 (that is, own vehicle 1) is running in a row.
• own vehicle 1 and other vehicles 2 3, 2 ⁇ , 2 . , 2 and 1 are running on the driveway in the same arrangement as in FIG.
• the power curve road is a running road having a radius of curvature small enough to affect the driving operation of the motorcycle 1 .
• the own vehicle train is on the right side, and the other vehicle line is on the left side.
• the other vehicles 28, 2 correspond to the own train vehicle, and the other vehicles 213, 2 correspond to the other train vehicle.
• Execution command 5 2 2 is in a state in which the group including own vehicle 1 is in a power train (that is, when it is in power train)
• the other train vehicle is set as the target vehicle for inter-vehicle distance maintenance control.
• the target vehicle for inter-vehicle distance maintenance control.
• the other vehicle 2 ⁇ which is the closest vehicle to the own vehicle 1 among the other train vehicles positioned ahead of 1, is set as the target vehicle. That is, the target vehicle is switched from other vehicle 2 3 to other vehicle 2 ⁇ .
• the execution unit 22 determines whether or not the own vehicle 1 is in the middle of running, and semi-determines that the own vehicle 1 is in the middle of running. In this case, it can be considered that the group including the host vehicle 1 is in power-train running.
• the inertial measurement device I or force-navigation-shiyon ⁇ 02022/229791 ⁇ (:17132022/053667 It can be realized by using a device or the like.
• the execution unit 22 while the group including the host vehicle 1 is running power-busting, It is preferable to increase the target distance for inter-vehicle distance maintenance control compared to the state in which the vehicle is traveling straight ahead.
• the safety can be improved by changing the target distance of the inter-vehicle distance maintenance control as described above depending on whether the group is running hard.
• the execution unit 22 sets the target distance for inter-vehicle distance maintenance control based on the traveling state information of the other vehicle 2 identified by the identification unit 23. You may
• the execution unit 22 may change the target distance for inter-vehicle distance maintenance control based on, for example, the position of the other vehicle 2 relative to the host vehicle 1 identified by the identification unit 23. .
• the execution unit 22 may change the target distance according to the distance between the other train vehicle and the own vehicle 1 in the vehicle width direction. For example, in the example of FIG. 3, when the other vehicle 23 is set as the target vehicle of the inter-vehicle distance maintenance control, the execution unit 22 determines that the distance in the vehicle width direction between the other vehicle 213 and the own vehicle 1 is The shorter the distance, the longer the target distance, which is the target value of the inter-vehicle distance between the other vehicle 2 3 and the own vehicle 1 .
• the camera 15 that captures the rear of the motorcycle 1 can be used to identify the other vehicle 2.
• the identifier 523 can also identify the other vehicle 2 behind the subject vehicle 1 based on the imaging data obtained by the camera 15 that images the rear of the smoke cycle 1 .
• execution 522 may change the target distance according to the inter-vehicle distance between own vehicle 1 and another vehicle 2 behind own vehicle 1 .
• the execution unit 22 determines that the longer the inter-vehicle distance between the other vehicle 20 and the own vehicle 1, the other vehicle.
• the target distance which is the target value of the inter-vehicle distance between the vehicle 2 and the own vehicle 1
• the target distance may be increased.
• the inter-vehicle distance within the group is made uniform, and the state in which the group including the own vehicle 1 travels in a zigzag arrangement is easily maintained.
• the execution unit 22 may change the target distance for inter-vehicle distance maintenance control based on the positional relationship between the other vehicles 2 identified by the identification unit 23, for example. Specifically, the execution unit 22 may set the target distance for the inter-vehicle distance maintenance control based on the inter-vehicle distance between the other vehicles 2 . For example, in the example of FIG. 3, when the other vehicle 23 is set as the target vehicle of the inter-vehicle distance maintenance control, the execution unit 22 selects the other vehicle 2 ( (not shown)) and the other vehicle 213. As a result, the inter-vehicle distance within the group is made uniform, and the state in which the group including the own vehicle 1 travels in a zigzag arrangement is easily maintained.
• the executor 522 may execute the group traveling mode based on the traveling state information of one other vehicle 2. For example, in the group running mode, the execution command 522 determines whether the group is in power running or not. ⁇ 02022/229791 ⁇ (:17132022/053667 Either vehicle 2 3 or vehicle 2 13 may be set as the target vehicle for inter-vehicle distance maintenance control, regardless of the circumstances.
• inter-vehicle distance maintenance control is executed in the group traveling mode based on the traveling state information of the other vehicle 2 identified by the identification unit 23.
• the executive 522 may perform processing other than the inter-vehicle distance maintenance control based on the traveling state information of the other vehicle 2 identified by the identification unit 23 in the group traveling mode.
• the execution unit 22 generates ambient environment information used for adaptive cruise control based on the relative position of the other vehicle 2 with respect to the host vehicle 1 identified by the identification unit 23. may be changed. Specifically, the execution unit 22 determines whether the own vehicle train is on the left side or the right side based on the relative position of the other vehicle 2 with respect to the own vehicle 1 identified by the identification unit 23. Then, the detection range of the surrounding environment information detected by the surrounding environment sensor 14 is changed based on the determination result of the vehicle train.
• FIG. 7 is a diagram showing how the detection range of the ambient environment information used for the adaptive cruise control performed by the motorcycle 1 changes.
• the detection range 81 of the ambient environment sensor 14 the range before the change is indicated by a dashed line, and the range after the change is indicated by a solid line.
• the detection range R1 of the ambient environment sensor 14 extends radially forward from the front of the motorcycle 1.
• the ambient environment sensor 14 can detect ambient environment information within the detection range R1. That is, the detection range of the ambient environment information detected by the ambient environment sensor 14 basically matches the detection range R 1 of the ambient environment sensor 14 . However, as will be described later (the detection range of the surrounding environment information detected by the surrounding environment sensor 14 can be changed without changing the detection range R1 of the surrounding environment sensor 14), these The range will be described separately.
• Execution unit 22 for example, by changing the detection range R1 of ambient environment sensor 14, the detection range of ambient environment information detected by ambient environment sensor 14 Specifically, the execution unit 22 changes the center (31 (for example, the central axis of the radially expanding range) of the detection range R1 of the surrounding environment sensor 14 to the traveling range of the own vehicle 1. It is positioned on the side where the other train vehicle exists with respect to the trajectory, so that the center of the detection range of the surrounding environment information detected by the surrounding environment sensor 1 4 is positioned on the basis of the travel trajectory of the own vehicle 1. The train is located on the side where the vehicle exists, and the center 01 of the detection range R1 is the dashed line before the detection range R1 is changed. It is located on the 1 locus.
• the center 01 of the detection range R1 is the dashed line before the detection range R1 is changed. It is located on the 1 locus.
• another vehicle 2 ⁇ is specified by the specifying unit 23, and the execution unit 22 determines the own vehicle train based on the position of the vehicle 213 relative to the own vehicle 1. is the right column.
• the execution unit 22 moves the center (:1) of the detection range R1 of the surrounding environment sensor 14 to the left side (that is, the other vehicle
• the center of the detection range of the ambient environment information detected by the ambient environment sensor 14 is positioned on the side where the other vehicles 2 ⁇ and 2 ⁇ which are train cars exist. 7, the detection range Rl of the ambient environment sensor 14 (that is, the detection range of the ambient environment information detected by the ambient environment sensor 14 ) can be kept within the driving lane of the own vehicle 1.
• a vehicle traveling in an adjacent lane adjacent to the driving lane of the own vehicle 1 enters the detection range R1, and the inter-vehicle distance maintenance control is performed. can be prevented from being mistakenly set as a target vehicle in
• the execution unit 22 may change the detection range of the surrounding environment information detected by the surrounding environment sensor 14 without changing the detection range R1 of the surrounding environment sensor 14. good.
• the execution unit 22 uses information about a specific range within the detection range R 1 (for example, in the example of FIG. 7, the range on the right side based on the travel locus of the own vehicle 1) as the surrounding environment information.
• the detection range of the ambient environment information may be changed by rubbing so as not to detect it.
• Specific information other than the plate information may be used to identify the other vehicle 2.
• information other than the license plate information may be used as the specific information.
• the unique information may include shape information (hereinafter also referred to as shape information).
• shape information is, for example, information indicating the shape of the vehicle body or the shape of the rider.
• the information indicating the shape of the rider may include information indicating the shape of the rider's clothing in addition to the shape of the rider itself.
• the specifying unit 23 performs image processing on the acquired imaging data to determine the shape information of the vehicle reflected in the imaging data. Extract as other vehicle specific information. Then, the specifying unit 23 compares the shape information extracted from the imaging data with the shape information of each vehicle in the group, which is acquired in advance as the group vehicle specific information, to identify the other vehicle 2. identify. Specifically, the identification unit 23 determines that the shape information extracted from the imaging data matches one of the shape information of each vehicle in the group obtained in advance as the group vehicle specific information. Or, in the case of similarity, the vehicle photographed in the imaging data is determined as other vehicle 2 .
• the unique information may include color information (hereinafter also referred to as color information).
• the color information is, for example, information indicating the color of the vehicle body or the color of the rider.
• the information indicating the color of the rider may include information indicating the color of the rider's clothing in addition to the color of the rider himself.
• the color information may also include information indicating a combination of colors (for example, information indicating a combination of the color of the vehicle body and the color of the clothing worn by the rider).
• the identification unit 23 performs image processing on the acquired imaging data to obtain the color information of the vehicle captured in the imaging data. Extract as vehicle-specific information. Then, the specifying unit 23 combines the color information extracted from the imaging data with the group vehicle-specific information acquired in advance. ⁇ 02022/229791 ⁇ (:17132022/053667
• the imaged data Identify the vehicle shown in 2 as other vehicle 2.
• the unique information may include pattern information (hereinafter also referred to as pattern information).
• pattern information is, for example, information indicating the pattern of the vehicle body or the pattern of the rider.
• the information indicating the pattern of the rider may include information indicating the pattern of the rider's clothing, in addition to the pattern of the rider itself.
• the specifying unit 23 performs image processing on the captured image data to obtain the pattern of the vehicle captured in the captured image data. Information is extracted as other vehicle specific information. Then, the specifying unit 23 compares the pattern information extracted from the imaging data with the pattern information of each vehicle in the group acquired in advance as the group vehicle specific information, thereby identifying the other vehicle 2. identify. Specifically, the specifying unit 23 determines that the pattern information extracted from the imaging data matches one of the pattern information of each vehicle in the group previously acquired as the group vehicle specific information. Or, in the case of similarity, the vehicle photographed in the imaging data is determined as other vehicle 2 .
• the unique information may include dimension information (hereinafter also referred to as dimension information).
• the dimensional information is information about the dimensions of the vehicle, and may include, for example, information indicating the dimensional ratio between the height direction and the width direction of the vehicle body, or information indicating the dimensional ratio between the vehicle body and the rider.
• the specifying unit 23 performs image processing on the captured image data to determine the dimension information of the vehicle reflected in the captured image data. Extract as other vehicle specific information. Then, the specifying unit 23 compares the dimension information extracted from the imaging data with the dimension information of each vehicle in the group acquired in advance as the group vehicle specific information, thereby identifying the other vehicle 2. identify. Specifically, a specific ⁇ 02022/229791 ⁇ (: 17132022/053667) Part 23 is the dimension information of each vehicle in the group in which the dimension information extracted from the imaging data is acquired in advance as the group vehicle specific information. If it matches or is similar to any one of them, the vehicle photographed in the imaging data is determined as other vehicle 2 .
• the identification unit 23 is obtained by the camera 15 that captures the rear or side of the motorcycle 1.
• Unique information can be extracted from imaging data.
• the camera 15 may image the rear or side of the motorcycle 1 .
• the motorcycle 1 may be provided with a camera 15 for imaging the rear of the motorcycle 1 in addition to or instead of the camera 15 for imaging the front of the motorcycle 1 .
• the motorcycle 1 may be provided with a camera 15 for imaging the side of the motorcycle 1.
• the identification unit 23 may use only one type of specific information or a plurality of types of specific information in the process of identifying the other vehicle 2. However, from the viewpoint of accurately identifying the other vehicle 2, it is preferable that the identification unit 23 performs identification processing of the other vehicle 2 using a plurality of types of unique information.
• pick-up play information and color information may be used as unique information in the process of identifying the other vehicle 2 .
• the specific information 523 matches any of the pick-up plate information of each vehicle in the group in which the pick-up plate information extracted from the imaging data is acquired in advance as group vehicle specific information.
• the color information extracted from the imaging data matches or resembles any of the color information of each vehicle in the group previously acquired as the group vehicle specific information.
• the vehicle photographed in the imaging data is defined as another vehicle 2 .
• the identification unit 23 may set the type of unique information used to identify the other vehicle 2 according to the combination of the motorcycles forming the group.
• the identification unit 23 can be used to identify the other vehicle 2, for example. Also, for example, when the color of the rider's clothing is different among the motorcycles forming the group, the identification unit 23 determines the type of the other vehicle 2. The type of unique information used for identification is set to color information, thereby enabling the other vehicle 2 to be identified with high accuracy.
• the identification unit 23 determines the type of unique information used to identify the other vehicle 2 according to the combination of the motorcycles forming the group, without depending on the setting operation by the rider of the own vehicle 1. It can be automatically set accordingly.
• the specific vehicle 523 uses imaging data obtained by the camera 15 while the vehicle is running to determine the characteristics of the vehicle identified as the other vehicle 2 forming the group (for example, shape, color, patterns and dimensions) are extracted.
• the vehicle determined to be the other vehicle 2 may be a vehicle determined as the other vehicle 2 by the determination process described above, and may continue to be included in the imaging data for a predetermined time or longer. It may be a vehicle that appears in the image.
• the specific vehicle 523 is used to identify the other vehicle 2 according to the combination of the motorcycles forming the group by using the extraction result of the characteristics of the vehicle identified as the other vehicle 2. You can set the type of unique information to be sent.
• the execution conditions for executing the processes after step 5103 are not limited to this example.
• the above-mentioned execution condition may be any condition as long as it can be interrupted when the group including own vehicle 1 and other vehicle 2 is traveling as a group.
• the above execution condition may be semi-determined that the own vehicle 1 and the other vehicle 2 are traveling in a zigzag arrangement.
• control device 20 obtains information indicating the positional relationship between the own vehicle 1 and the other vehicle 2 via wireless communication with the other vehicle 2 or infrastructure equipment, and uses the information to control the own vehicle 1 Also, it is possible to semi-determine whether or not the other vehicle 2 is traveling in a zigzag arrangement. ⁇ 02022/229791 ⁇ (:17132022/053667
• the execution unit 22 selects the group traveling mode, which is the adaptive cruise control mode that is performed during group traveling, as specified by the specific device 523. It is executed based on the running state information of the other vehicle 2.
• the identification person 523 identifies the other vehicle 2 based on the imaging data in which the other vehicle 2 is captured. Therefore, the other vehicle 2 can be appropriately identified, for example, compared to the case of trying to identify the other vehicle 2 based on the surrounding environment information obtained by radar.
• the group traveling mode can be appropriately executed according to the traffic conditions around the host vehicle 1. Therefore, it is possible to appropriately execute the adaptive cruise control of the motorcycle 1 during group traveling. can be done.
• the executing section 22 executes the group traveling mode based on the traveling state information of the plurality of other vehicles 2 .
• the group traveling mode can be executed using more information about the traffic conditions around the own vehicle 1 . Therefore, the group traveling mode can be executed more appropriately according to the traffic conditions around the host vehicle 1.
• the execution unit 522 executes inter-vehicle distance maintenance control based on the running state information of the plurality of other vehicles 2 in the group running mode.
• the execution unit 522 executes inter-vehicle distance maintenance control based on the running state information of the plurality of other vehicles 2 in the group running mode.
• the specifying unit 23 extracts the unique information of the other vehicle 2 as the other vehicle unique information based on the imaging data of the other vehicle 2. , extracted other vehicle specific information, and previously acquired The other vehicle 2 is identified by comparing with the group vehicle specific information, which is the specific information of the vehicles in the group. As a result, the identification of the other vehicle 2 using the imaging data obtained by the camera 15 is appropriately realized.
• the specific information includes information of the number plate 19 (that is, number plate information).
• the identification of the other vehicle 2 using the imaging data obtained by the camera 15 can be further enhanced by focusing on the difference in pick-up information among the vehicles surrounding the own vehicle 1. Properly realized.
• the specific information includes shape information (that is, shape information).
• shape information that is, shape information
• the unique information includes color information (that is, color information).
• color information that is, color information
• the unique information includes pattern information (that is, pattern information).
• pattern information that is, pattern information
• the unique information includes dimensional information (that is, dimensional information).
• dimensional information that is, dimensional information
• the identifying unit 23 determines the type of unique information used to identify the other vehicle 2. are set according to the combination of motorcycles that make up the group. As a result, the other vehicle 2 can be specified with higher accuracy.
• the identification unit 23 sets the type of unique information used to identify the other vehicle 2 to combinations of motorcycles forming a group without depending on a setting operation by the rider. set automatically according to the Thereby, it is possible to easily and appropriately set the type of unique information used to identify the other vehicle 2 .
• the acquisition unit 21 acquires the group vehicle specific information based on the information of the setting operation by the rider.
• the group vehicle specific information can be obtained in just the right amount.
• the acquirer P21 automatically acquires the group vehicle specific information without depending on the setting operation by the rider.
• the group vehicle specific information can be easily obtained.

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• 2022
  • 2022-04-20 CN CN202280031257.6A patent/CN117241977A/zh active Pending
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  • 2022-04-20 WO PCT/IB2022/053667 patent/WO2022229791A1/ja not_active Ceased
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