Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
  • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
  • B62J50/20—Information-providing devices
  • B62J50/21—Information-providing devices intended to provide information to rider or passenger
• • 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
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
• • 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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
• • 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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/095—Predicting travel path or likelihood of collision
• • 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
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
  • B60W2050/143—Alarm means
• • 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
  • B60W2520/00—Input parameters relating to overall vehicle dynamics
  • B60W2520/12—Lateral speed
  • B60W2520/125—Lateral acceleration
• • 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
  • B60W2520/00—Input parameters relating to overall vehicle dynamics
  • B60W2520/14—Yaw
• • 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
  • B60W2520/00—Input parameters relating to overall vehicle dynamics
  • B60W2520/18—Roll
• • 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
• • 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
  • B60W2556/00—Input parameters relating to data
  • B60W2556/40—High definition maps
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2200/00—Type of vehicle
  • B60Y2200/10—Road Vehicles
  • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

Definitions

• the present invention relates to a control device for a rider assistance system and a control method for the rider assistance system.
• Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-116882 [Summary of the Invention]
• a rider support system positional relationship information between a lean vehicle and other vehicles traveling behind or to the side of the lean vehicle is acquired, and rider support operations are performed based on the positional relationship information.
• a situation may occur in which the rider unexpectedly executes a rider support operation due to the difficulty of the rider in visually recognizing other vehicles.
• the rider's attention is focused on the change in the road surface in front of the lean vehicle in order to predict the lean vehicle slipping.
• a situation in which a rider assisting operation is performed unexpectedly for the rider is more likely to occur. If such a situation occurs, the rider may be surprised by the rider-assisted operation and may not be able to concentrate on driving.
• the present invention has been made against the background of the above problems, and provides a controller for a rider support system capable of improving rider safety. It also provides a new control method for a rider assistance system capable of improving rider safety.
• a control device is a control device for a rider support system, and when a lean vehicle is running, based on the surrounding environment information of the lean vehicle, an acquisition unit for acquiring positional relationship information between a leaning vehicle and another vehicle traveling behind or to the side of the leaning vehicle; and an execution unit 5 for executing a rider assist operation for assisting driving by a rider of the vehicle, wherein the acquiring unit further acquires turning attitude information of the lean vehicle while the lean vehicle is running. and the execution unit changes the rider-assisted motion according to the turning attitude information acquired by the acquisition unit.
• a control method is a control method for a rider support system, in which an acquisition unit of a control device detects the ambient environment of the lean vehicle while the vehicle is running in the rain.
• the acquisition unit acquires turning attitude information of the lean vehicle while the vehicle is running
• the execution unit acquires lean vehicle turning attitude information.
• Positional relationship between the vehicle and other vehicles traveling behind or to the side of the lean vehicle ⁇ 0 2022/229805 ? €1/162022/053765 Change the rider support operation executed based on the relevant information according to the turning attitude information. Therefore, in a state in which the rider punctures the lean vehicle and the rider's attention is focused on the change in the road surface located in front of the lean vehicle, it is difficult for the rider to be surprised by the rider support operation and lose concentration on driving. This makes it possible to improve rider safety.
• FIG. 3 is a diagram showing an operation flow of a control device of the rider support system according to the embodiment of the present invention.
• a lean vehicle means a vehicle that leans to the right when turning to the right and leans to the left when turning to the left.
• Lean vehicles include, for example, motorcycles (motorcycles and tricycles) and bicycles.
• motorcycles include vehicles powered by engines and vehicles powered by electric motors.
• motorcycles include, for example, topais, scooters, electric scooters, and the like.
• Bicycle means a vehicle capable of being propelled on the road by the rider's force applied to the pedals.
• Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles. ⁇ 02022/229805 ⁇ (:1' 2022/053765
• FIG. 1 is a diagram showing how a rider support system according to an embodiment of the present invention is mounted on a lean vehicle.
• FIG. 2 is a diagram showing the system configuration of the rider support system according to the embodiment of the invention.
• a rider support system 1 is mounted on a lean vehicle 100.
• the rider support system 1 includes, for example, an ambient environment sensor 11, a vehicle behavior sensor 12, a control device (011) 20, an alarm device 30, a braking device 40, and a drive device 50. and including.
• the control device 20 uses the information detected by the ambient environment sensor 11 and the vehicle behavior sensor 12 to detect the Perform rider assist actions to assist driving.
• the control device 20 outputs control commands to various devices (for example, the notification device 30, the braking device 40, the driving device 50, etc.) to execute the rider-assisting operation.
• various devices for example, the notification device 30, the braking device 40, the driving device 50, etc.
• Other information for example, information on the state of operation of the braking device 40 by the rider, information on the state of operation of the drive device 50 by the rider, etc.
• the detection results of various sensors are also input.
• Each element 5 of the rider support system 1 may be used exclusively for the rider support system 1, or may be shared with other systems.
• Surrounding environment sensor 11 detects the surrounding area behind or to the side of lean vehicle 100 (especially to the side behind the rider). ⁇ 02022/229805 ⁇ (: 1' 2022/053765) Detects surrounding environment information. Related information is included.
• the ambient environment sensor 11 is, for example, a radar, a 1_13" sensor, an ultrasonic sensor, a camera, and the like.
• the vehicle behavior sensor 12 detects vehicle behavior information of the lean vehicle 100.
• the vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor ( ⁇ IV! II), and the like.
• a vehicle speed sensor detects the speed occurring in the lean vehicle 100 .
• the vehicle speed sensor may detect other physical quantity substantially convertible to the speed occurring in the lean vehicle 100 .
• the inertial sensor measures the acceleration of the three axes (longitudinal direction, vehicle width direction, vehicle height direction) and the angular velocity of the three axes (square angle, pitch angle, yaw angle) occurring in the lean vehicle 100. To detect.
• the inertial sensor may detect other physical quantities substantially convertible into three-axis acceleration and three-axis angular velocity occurring in the lean vehicle 100 .
• the inertial sensor may detect a part of triaxial acceleration and triaxial angular velocity.
• the control device 2 0 includes at least an acquisition unit 2 1 and an execution unit 2 2 . All or each of the controllers 20 may be provided collectively in one housing, or may be provided separately in a plurality of housings. In addition, all or each of the control devices 20 may be composed of, for example, a microcomputer, a microphone processor unit, or the like, or may be composed of an updatable item such as firmware. It may be a program module or the like that is executed by a command from , 0II or the like.
• the acquisition unit 21 detects the lean vehicle 100 and the lean vehicle 100 based on the ambient environment information detected by the ambient environment sensor 11 while the lean vehicle 100 is traveling. Acquires positional relationship information with other vehicles traveling behind or on the side of the car 100 .
• the positional relationship information is, for example, information such as relative position, relative distance, relative velocity, relative acceleration, and relative acceleration.
• the positional relationship information may be information of other physical quantities that can be substantially converted into them.
• the acquisition unit 2 1 acquires vehicle behavior information detected by the vehicle behavior sensor 1 2 while the lean vehicle 1 0 0 is running.
• ⁇ 02022/229805 (: 1' 2022/053765)
• the information on the turning attitude may be information on other physical quantities that can be substantially converted into them, that is, the information on the degree of puncture may be, for example, the corner angle, the vehicle Information may also be obtained such as the speed in the width direction, the angular speed in the yaw angle, etc.
• the rate of change in puncture for example, the rate of change in the wheel angle and the change in acceleration in the width direction of the vehicle may be obtained.
• Information such as rate, rate of change of yaw angular velocity, etc. may be obtained.
• the execution unit 2 2 executes a rider assist operation for assisting the rider of the running lean vehicle 1 0 0 based on the positional relationship information acquired by the acquisition unit 2 1 . do. Then, the executioner 522 changes the rider support operation according to the turning posture information acquired by the acquisition unit 21.
• the rider support operation may be a notification operation for notifying the rider, in which case the execution unit 22 changes the control command output to the notification device 30 according to the turning attitude information. Also, the rider support operation may be a control operation for controlling the speed, acceleration, or jerk occurring in the lean vehicle 100.
• the execution unit 22 performs a to change the control command output to at least one of the braking device 40 and the driving device 50.
• the control operation may be executed while the rider is operating the braking device 40 or the driving device 50, or in a state where the rider is not operating the braking device 40 or the driving device 50. may be run in .
• the rider support operation both a notification operation to the rider and a control operation of the velocity, calorie velocity, or jerk occurring in the lean vehicle 100 may be performed.
• the notification device 30 may notify the rider by display (that is, perception using the visual organs as sensory organs), or by sound (that is, the auditory).
• the rider may be notified by vibration (i.e., perception using the hornworm as a sensory organ), and A combination of them may bring good luck to the rider.
• the notification device 30 is a display, a lamp, a speaker, a vibrator, or the like, and may be provided in the lean vehicle 100.
• a helmet, gloves, or the like may be installed in the lean vehicle 100.
• the notification device 30 may be provided in fixtures associated with the In addition, the notification device 30 may be composed of one output device, or may be composed of a plurality of devices of the same type or different types. ⁇ 02022/229805 ⁇ (: 1' 2022/053765). may
• the braking device 40 is for driving the lean vehicle 100.
• the driving device 50 serves as a power source for the lean vehicle 100 to generate a driving force for the lean vehicle 100 .
• the driving device 50 may take over the function of the braking device 40 .
• the execution unit 22 executes a notification operation for notifying the rider of the relative distance of the other vehicle to the lean vehicle 100 or the passing time difference as the rider support operation.
• the acquisition unit 21 acquires, as the positional relationship information, information on the relative distance or difference in transit time from the lean vehicle 100 of another vehicle traveling behind or on the side, and the execution unit 22 Executes a notification operation to the rider of the information of the relative distance or transit time difference.
• the relative distance or transit time difference itself may be reported, or a rank indicating the degree of the relative distance or transit time difference may be reported.
• additional information such as the vehicle type of other vehicles may be notified.
• the execution unit 22 changes the notification operation according to the turning attitude information acquired by the acquisition unit 21 .
• the execution unit 22 may execute a control operation of the velocity, acceleration or jerk occurring in the lean vehicle 100 in order to adjust the relative distance or transit time difference as the rider support operation, Even in such a case, the execution unit 22 changes the control action according to the turning attitude information acquired by the acquisition unit 21.
• the executioner 522 executes, as a rider support operation, a notification operation for notifying the rider of another vehicle's tailgating against the lean vehicle 100.
• a notification operation for notifying the rider of another vehicle's tailgating against the lean vehicle 100.
• another vehicle is running behind lean vehicle 100 with a relative distance or transit time difference below the threshold, and the relative distance or transit time difference is stable beyond the reference period.
• the execution unit 22 executes a notification operation to the rider.
• the presence or absence of tailgate driving may be notified, and the state (for example, the relative distance or the rank indicating the degree thereof, the transit time difference or the rank indicating the degree thereof, etc.) ⁇ 02022/229805 ? €1/162022/053765 vehicle type, etc.) may be reported.
• the execution arm 22 changes the notification operation according to the turning posture information acquired by the acquisition unit 21 .
• the execution unit 22 may execute, as a rider-assisted operation, a control operation for the velocity, acceleration, or jerk occurring in the lean vehicle 100 in order to adjust the relative distance or transit time difference, Even in such a case, the execution unit 22 changes the control action according to the turning attitude information acquired by the acquisition unit 21.
• the executioner 522 executes, as a rider support operation, a notification operation for notifying the rider of another vehicle's lean vehicle 100 running in the blind spot. For example, at acquisition 521, the positional information corresponding to the state in which the other vehicle is traveling at a relative distance below the threshold in an area on the side of the lean vehicle 100 that could be a blind spot for the rider is acquired. If so, the execution unit 22 executes the notification operation to the rider. In the notification operation, the presence or absence of another vehicle running in the blind spot of the lean vehicle 100 may be notified, and the state thereof (for example, a relative distance or a rank indicating the degree thereof, a relative speed or the degree thereof) may be notified. , the vehicle type of other vehicles, etc.) may be notified. The execution unit 22 changes the notification operation according to the turning posture information acquired by the acquisition unit 21 .
• the executioner 522 executes, as a rider support operation, a notification operation for notifying the rider of the possibility of a collision between the lean vehicle 100 and another vehicle.
• a notification operation for notifying the rider of the possibility of a collision between the lean vehicle 100 and another vehicle.
• the acquisition unit 21 positional relationship information corresponding to a state in which the possibility of another vehicle running behind or to the side of the lean vehicle 100 colliding with the lean vehicle 100 exceeds a threshold. is obtained, the execution unit 22 executes a notification operation to the rider.
• the notification operation whether or not there is a possibility of collision may be notified, and a rank indicating the degree of possibility of collision may be notified.
• additional information such as the vehicle type of the other vehicle may also be notified.
• the execution unit 22 changes the notification operation according to the turning posture information acquired by the acquisition unit 21 .
• the execution unit 22 may execute a control operation of the velocity, acceleration or jerk occurring in the lean vehicle 100 in order to reduce the possibility of collision as the rider assist operation. Even in such a case, the execution arm 522 changes the control action according to the turning attitude information acquired by the acquisition arm 521. ⁇ 0 2022/229805 ⁇ (:1' 2022/053765
• the execution unit 22 executes a rider support operation when the acquisition unit 21 acquires turning attitude information corresponding to a state in which the lean vehicle 100 has a small puncture, When the turning attitude information corresponding to the state in which the lean vehicle 100 has a large puncture is acquired in the acquisition step 521, the rider-assist operation is not performed.
• the execution unit 22 acquires information on the yaw angle, the acceleration in the vehicle width direction, or the angular velocity of the yaw angle below the upper limit value in the acquisition unit 21, or the state exceeds the reference period. If it continues, it is preferable to semi-determine that the acquisition unit 21 has acquired the turning attitude information corresponding to a state in which the puncture is small.
• Execution unit 522 acquires information on angular velocity, acceleration in the lateral direction of the vehicle, or angular velocity of yaw angle that exceeds the upper limit in acquisition unit 21, or the state exceeds the reference period. It is preferable to semi-determine that the acquisition unit 21 has acquired the turning attitude information corresponding to a state in which the puncture is large.
• the execution unit 2 2 causes the acquisition unit 2 1 to Comparing with the case where the turning attitude information corresponding to the state in which the flat tire of the vehicle 100 is small is acquired, the degree of support for the rider is suppressed and the rider support operation is performed. If the rider support action is a notification action for the rider, the execution command 522 should reduce the degree of support by reducing the rider's perceptibility of the notification.
• the execution unit 22 reduces the amount of change thereof to suppress the degree of support. good.
• the execution unit 22 acquires information on the yaw angle, the acceleration in the vehicle width direction, or the angular velocity of the yaw angle that exceeds the reference value in the acquisition unit 21, or the state exceeds the reference period.
• the execution unit 22 acquires information on the yaw angle, the acceleration in the vehicle width direction, or the angular velocity of the yaw angle below the reference value in the acquisition unit 21, or the state exceeds the reference period. If it continues, it is preferable to semi-determine that the acquisition unit 21 has acquired the turning attitude information corresponding to a state in which the puncture is small.
• the execution unit 2 2 acquires a turning posture corresponding to a state in which the change rate of the puncture of the lean vehicle 1 0 0 is small in the acquisition unit 2 1 ⁇ 02022/229805 ⁇ (: 1' 2022/053765
• the execution unit 22 does not execute the rider support operation.
• the turning attitude information corresponding to the state where the rate of change of puncture is small is obtained. It is preferable to semi-determine that the acquisition unit 21 has acquired the data, and the execution unit 22 determines that the acquisition unit 21 determines the rate of change in the angle of change, the rate of change in the acceleration in the vehicle width direction, or the yaw rate that exceeds the upper limit. - When the information on the rate of change of the angular velocity is acquired, or when the state continues beyond the reference period, the turning attitude information corresponding to the state where the rate of change of the puncture is large is acquired by the acquisition unit 21. It should be judged that
• the executing unit 22 executes the acquiring unit 2. 1, the rider support operation in which the degree of rider support is suppressed compared to the case where the turning attitude information corresponding to the state in which the rate of change of the puncture of the lean vehicle 100 is small is acquired. to run. If the rider assisting action is an informing action for the rider, the executioner 522 should reduce the rider's perceptibility of the informing to suppress the degree of support.
• the execution unit 22 reduces the amount of change thereof to suppress the degree of support. do it.
• the execution unit 22 acquires information on the rate of change of the yaw angle, the rate of change of the acceleration in the vehicle width direction, or the rate of change of the angular velocity of the yaw angle, which exceeds the reference value, in the acquisition unit 21, or If this state continues beyond the reference period, it may be determined that the obtaining unit 21 has obtained turning attitude information corresponding to a state in which the rate of change of the punctured tire is large.
• the execution unit 22 obtains the information on the rate of change of the yaw angle, the rate of change of the acceleration in the lateral direction of the vehicle, or the rate of change of the angular velocity of the yaw angle below the reference value in the acquisition unit 21, or , if the state continues beyond the reference period, it may be determined that the obtaining unit 21 has obtained the turning attitude information corresponding to the state in which the rate of change of the punctured tire is small.
• the execution unit 22 determines the strength of the notification (for example,
• Perceptibility may be reduced, and by reducing the notification period (for example, display change period, volume change period, vibration frequency, etc.)
• execution 522 may reduce the rider's perceptibility of the report by switching the type of perception to one that is less likely to be perceived by the rider. For example, notification to the rider by vibration may be switched to notification to the rider by display or sound.
• the execution command 522 makes the notification device 30 less perceptible to the rider.
• the rider's perceptibility of the notification may be reduced.
• the display or sound notification using the notification device 30 provided on the helmet may be changed to the notification provided on the lean vehicle 100.
• the notification may be switched to display using the notification device 30 or notification by sound.
• FIG. 3 is a diagram showing the operation flow of the control device of the rider assistance system according to the embodiment of the present invention. [0036] The control device 20 executes the operation flow shown in FIG. 3 while the lean vehicle 100 is running.
• step 5101 the acquirer 521 acquires the lean vehicle 100 based on the surrounding environment information detected by the surrounding environment sensor 11 while the lean vehicle 100 is running.
• the positional relationship information between the vehicle 100 and other vehicles traveling behind or on the side of the lean vehicle 100 is acquired.
• the acquisition unit 21 acquires the turning attitude information of the lean vehicle 100 based on the vehicle behavior information detected by the vehicle behavior sensor 12 while the lean vehicle 100 is traveling. .
• step 5102 the execution unit 22 performs a rider assist operation for assisting the rider in driving the lean vehicle 100 in motion based on the positional relationship information acquired by the acquisition unit 21. perform an action. Then, the executioner 522 changes the rider-support motion according to the turning attitude information acquired by the acquisition unit 21.
• the execution command 522 performs the rider-assisted operation when the acquisition command 521 acquires turning attitude information corresponding to a state in which the lean vehicle 100 has a small puncture. , and when the acquisition unit 21 acquires turning attitude information corresponding to a state in which the lean vehicle 100 has a large puncture, no rider assistance operation is performed. Being so configured ensures increased rider safety.
• execution command 522 when acquisition command 521 acquires turning attitude information corresponding to a state in which lean vehicle 100 has a large puncture, acquires unit 21 Then, compared with the case where the turning attitude information corresponding to the state in which the lean vehicle 100 has a small puncture is acquired, the rider assistance operation is performed with the degree of assistance to the rider suppressed. So configured, increased rider safety is ensured.
• the execution unit 22 determines whether the rider - Execute the support operation, and do not execute the rider support operation when the acquisition unit 21 acquires turning attitude information corresponding to a state in which the rate of change in the puncture of the lean vehicle 100 is large. So configured, increased rider safety is ensured. ⁇ 02022/229805 ⁇ (:1' 2022/053765
• the execution unit 22 acquires In part 21, compared with the case where the turning attitude information corresponding to the state in which the change rate of the puncture of the lean vehicle 100 is small is obtained, the degree of rider support is suppressed. perform an action. So configured, increased rider safety is ensured.
• the acquisition unit 21 obtains the positional relationship information between the lean vehicle 100 and other vehicles traveling behind or to the side of the lean vehicle 100.
• acquisition is performed based on the surrounding environment information detected by the environment sensor 111.
• Information on the positional relationship with other vehicles that are traveling is transmitted by other means (for example, wireless communication between the lean vehicle 100 and vehicles located in its vicinity, infrastructure located in the lean vehicle 100 and its periphery). radio communication with structure equipment, etc.).
• the acquisition unit 21 acquires the turning attitude information of the lean vehicle 100 based on the vehicle behavior information detected by the vehicle behavior sensor 12. As explained above, the acquisition unit 21 obtains the turning attitude information of the lean vehicle 100 by other means (for example, map information that can determine the turning attitude information of the lean vehicle 100, etc.). can be obtained using
• 1 rider-assist system 1 1 ambient environment sensor, 1 2 vehicle behavior sensor, 2 0 control device, 2 1 acquisition unit, 2 2 execution unit, 3 0 notification device, 4 0 braking device, 5 0 drive device, 1 0 0 lean vehicle.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Human Computer Interaction (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Motorcycle And Bicycle Frame (AREA)
• Automatic Cycles, And Cycles In General (AREA)

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