Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• • 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
• • 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
  • B60W30/18009—Propelling the vehicle related to particular drive situations
  • B60W30/18145—Cornering
• • 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
  • B60W2520/18—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
  • 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
  • B60W30/10—Path keeping
  • B60W30/12—Lane keeping
• • 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

Definitions

• the present disclosure relates to a control device and a control method that can appropriately assist a rider in driving a lean vehicle.
• Patent Document 1 discloses a driver assistance system that warns the rider of a motorcycle that the rider is approaching an obstacle inappropriately based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel.
• the present invention has been made against the background of the above-mentioned problems, and provides a control device and a control method that can appropriately assist a rider in driving a lean vehicle.
• a control device for a lean vehicle includes an acquisition unit that acquires driving trajectory information, which is information on the driving trajectory of the lean vehicle, and occupied road width information, which is information on the road width occupied by the driving of the lean vehicle, a setting unit that sets a reference area based on the driving trajectory information and the occupied road width information, and an execution unit that performs a rider assistance operation to assist in adjusting the positional relationship between the lean vehicle and a positional relationship adjustment target, wherein the execution unit executes a first determination to determine whether or not the reference area includes the position of at least one target, and sets the positional relationship adjustment target based on a result of the first determination, and the acquisition unit sets the occupied road width information for setting the reference area used in the first determination, based on driving condition information of the lean vehicle.
• an acquisition unit of a control device acquires driving trajectory information, which is information on the driving trajectory of the lean vehicle, and occupied road width information, which is information on the width of a road occupied by the driving of the lean vehicle; a setting unit of the control device sets a reference area based on the driving trajectory information and the occupied road width information; an execution unit of the control device performs a rider assistance operation to assist in adjusting a positional relationship between the lean vehicle and a positional relationship adjustment target; the execution unit executes a first determination to determine whether the reference area includes the position of at least one target, and sets the positional relationship adjustment target based on a result of the first determination; and the acquisition unit sets the occupied road width information for setting the reference area used in the first determination, based on driving condition information of the lean vehicle.
• the acquisition unit of the control device acquires travel trajectory information, which is information on the travel trajectory of the lean vehicle, and occupied road width information, which is information on the road width occupied by the travel of the lean vehicle;
• the setting unit of the control device sets a reference area based on the travel trajectory information and the occupied road width information;
• the execution unit of the control device performs a rider assistance operation to assist in adjusting the positional relationship between the lean vehicle and the positional relationship adjustment target;
• the execution unit executes a first determination to determine whether or not the reference area includes the position of at least one target, and sets the positional relationship adjustment target based on the determination result of the first determination;
• the acquisition unit sets the occupied road width information for setting the reference area used in the first determination based on the travel state information of the lean vehicle.
• Figure 1 Schematic diagram showing the general configuration of a lean vehicle according to an embodiment of the present invention.
• FIG. 2 is a schematic diagram showing a state in which a lean vehicle according to an embodiment of the present invention is tilted in a roll direction.
• FIG. 3 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention.
• Figure 4 A diagram showing a first example of the positional relationship between a lean vehicle according to an embodiment of the present invention and objects around the lean vehicle.
• Figure 5 A figure showing a second example of the positional relationship between a lean vehicle according to an embodiment of the present invention and objects around the lean vehicle.
• FIG. 6 is a flow chart showing a first example of a processing flow performed by a control device according to an embodiment of the present invention.
• Figure 7 A diagram showing a third example of the positional relationship between a lean vehicle according to an embodiment of the present invention and objects around the lean vehicle.
• Figure 8 A diagram showing a fourth example of the positional relationship between a lean vehicle according to an embodiment of the present invention and objects around the lean vehicle.
• FIG. 9 is a flowchart showing a second example of the processing flow performed by the control device according to an embodiment of the present invention.
• a lean vehicle means a vehicle whose body leans to the right when turning to the right and whose body leans to the left when turning to the left.
• Lean vehicles include, for example, motorcycles (motorcycles, motor tricycles) and bicycles.
• motorcycles include vehicles whose power source is an engine, vehicles whose power source is an electric motor, and the like.
• motorcycles include, for example, motorcycles, scooters, electric scooters, and the like.
• a bicycle means a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals.
• Bicycles include ordinary bicycles, electrically assisted bicycles, electric bicycles, and the like.
• an engine specifically, engine 11 in FIG. 1 described below
• a drive source other than an engine for example, an electric motor
• multiple drive sources may be installed.
• a control unit that controls the hydraulic pressure of the brake fluid specifically, hydraulic pressure control unit 12 in FIG. 1 described below
• a control unit that controls the position of the wheel braking part itself by an electrical signal may also be used as the control unit for the braking force generated on the wheels.
• control device and control method according to the present invention are not limited to such configurations and operations.
• Fig. 1 is a schematic diagram showing a schematic configuration of a lean vehicle 1.
• the lean vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a lean vehicle according to the present invention.
• the lean vehicle 1 includes an engine 11, a hydraulic control unit 12, a display device 13, an input device 14, an ambient environment sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, an inertial measurement unit (IMU) 18, and a control unit (ECU) 20.
• IMU inertial measurement unit
• ECU control unit
• the engine 11 corresponds to an example of a drive source of the lean vehicle 1, and is capable of outputting power for driving drive wheels (specifically, rear wheels).
• the engine 11 is provided with one or more cylinders in which a combustion chamber is formed, a fuel injection valve that injects fuel into the combustion chamber, and an ignition plug.
• a fuel injection valve that injects fuel into the combustion chamber
• an ignition plug When fuel is injected from the fuel injection valve, a mixture containing air and fuel is formed in the combustion chamber, and the mixture is ignited by the ignition plug and burns.
• a piston provided in the cylinder reciprocates, causing the crankshaft to rotate.
• a throttle valve is provided in the intake pipe of the engine 11, and the amount of intake air into the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve.
• the hydraulic control unit 12 is a unit that has the function of controlling the braking force acting on the wheels.
• the hydraulic control unit 12 is provided on an oil passage that connects a master cylinder and a wheel cylinder, and includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure of the wheel cylinder.
• the operation of the components of the hydraulic control unit 12 is controlled to control the braking force acting on the wheels.
• the hydraulic control unit 12 may control the braking force acting on both the front and rear wheels, or may control only the braking force acting on either the front or rear wheels.
• the display device 13 has a display function of visually displaying information.
• the display device 13 may be a liquid crystal display.
• the display device 13 is provided, for example, in front of the steering wheel of the lean-to vehicle 1.
• the arrangement of the display device 13 with respect to the vehicle body is not particularly limited.
• the input device 14 receives various operations by the rider.
• the input device 14 is provided, for example, on the handlebars and includes push buttons and the like used for the rider's operations.
• Information regarding the rider's operations is output to the control device 2 ⁇ .
• the surrounding environment sensor 15 detects surrounding environment information related to the environment around the lean vehicle 1.
• the surrounding environment information detected by the surrounding environment sensor 15 is output to the control device 20.
• the surrounding environment sensor 15 is mounted on the lean vehicle 1, for example.
• the surrounding environment sensor 15 detects the surrounding environment information in front of the lean vehicle 1, the rear of the lean vehicle 1, or the side of the lean vehicle 1.
• the surrounding environment sensor 15 may detect at least two of the surrounding environment information in front of the lean vehicle 1, the rear of the lean vehicle 1, and the side of the lean vehicle 1 as the surrounding environment information.
• the lean vehicle is not limited to being equipped with one surrounding environment sensor 15, and may be equipped with multiple surrounding environment sensors.
• the surrounding environment sensor 15 may be a front surrounding environment sensor provided at the front of the body of the lean vehicle 1, a rear surrounding environment sensor provided at the rear of the body of the lean vehicle 1, and a side surrounding environment sensor provided at the side of the body of the lean vehicle 1.
• the surrounding environment sensor 15 may be a sensor that detects surrounding environment information in a non-contact manner.
• the surrounding environment information detected by the surrounding environment sensor 15 may be information related to the distance or direction to the object located around the lean vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the lean vehicle 1 (for example, the type of the object, the shape of the object itself, a mark attached to the object, etc.).
• the surrounding environment sensor 15 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, etc.
• the surrounding environment information may also be detected by a surrounding environment sensor or infrastructure equipment mounted on another vehicle.
• the control device 20 may also acquire the surrounding environment information through wireless communication with another vehicle or infrastructure equipment.
• the front wheel speed sensor 16 is a wheel speed sensor that detects the wheel speed of the front wheels (for example, the number of rotations per unit time of the front wheels [rpm] or the moving distance per unit time [km/h], etc.) and outputs the detection result.
• the front wheel speed sensor 16 may also detect other physical quantities that can be substantially converted into the wheel speed of the front wheels.
• the front wheel speed sensor 16 is provided on the front wheels.
• the rear wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the rear wheels (for example, the number of rotations per unit time of the rear wheels [rpm] or the moving distance per unit time [km/h], etc.) and outputs the detection result.
• the rear wheel speed sensor 17 may also detect other physical quantities that can be substantially converted into the wheel speed of the rear wheels.
• the rear wheel speed sensor 17 is provided on the rear wheels.
• the inertial measurement unit 18 is equipped with a three-axis gyro sensor and a three-direction acceleration sensor, and detects the posture of the lean vehicle 1.
• the inertial measurement unit 18 is provided, for example, on the body of the lean vehicle 1.
• the inertial measurement unit 18 detects the lean angle of the lean vehicle 1 and outputs the detection result.
• the inertial measurement unit 18 may detect other physical quantities that can be substantially converted into the lean angle of the lean vehicle 1.
• FIG. 2 is a schematic diagram showing a state in which the lean vehicle 1 is tilted in the roll direction. As shown in FIG.
• the lean angle ⁇ corresponds to an angle representing the tilt in the roll direction of the body (specifically, the body) of the lean vehicle 1 relative to the vertical upward direction.
• the inertial measurement unit 18 may be equipped with only a three-axis gyro sensor and a three-directional acceleration sensor, and may be capable of detecting the lean angle e.
• the road width W occupied by the lean vehicle 1 varies greatly depending on the driving state of the lean vehicle 1. Specifically, the larger the lean angle ⁇ , the larger the road width W.
• the road width w becomes larger.
• the road width w may be the width occupied by the lean vehicle 1 itself, may be the width taking into account the area occupied by the rider of the lean vehicle 1, or may be the width taking into account the area occupied by the cargo of the lean vehicle 1. Details of the occupied road width information, which is the information on the road width W, will be described later.
• the control device 20 in Fig. 1 controls the lean vehicle 1.
• a part or all of the control device 20 is configured with a microcomputer, a microprocessor unit, or the like.
• a part or all of the control device 20 may be configured with an updatable firmware, or the like, or may be a program module executed by a command from a CPU, or the like.
• the control device 20 may be, for example, one unit, or may be divided into multiple units.
• control device 20 includes, for example, an acquisition unit 21, a setting unit 22, and an execution unit 23.
• the control device 20 communicates with each device of the lean vehicle 1 (for example, the engine 11, the hydraulic control unit 12, the display device 13, the input device 14, the ambient environment sensor 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, and the inertial measurement unit 18). Specifically, the control device 20 acquires information from the input device 14, the ambient environment sensor 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, and the inertial measurement unit 18. In this specification, the acquisition of information may include extraction or generation of information (for example, calculation), etc. In addition, the control device 20 can control the operation of the engine 11, the hydraulic control unit 12, and the display device 13.
• the control device 20 can control the operation of the engine 11, the hydraulic control unit 12, and the display device 13.
• the acquisition unit 21 acquires various pieces of information. For example, the acquisition unit 21 acquires various pieces of information based on inputs from a display device 13, an input device 14, an ambient environment sensor 15, a front wheel speed sensor 16, a rear wheel speed sensor 17, an inertial measurement unit 18, etc.
• the setting unit 22 sets various parameters, etc. used in the processing performed by the execution unit 23 based on the various information acquired by the acquisition unit 21.
• the execution unit 23 executes various controls by controlling the operation of each device of the lean vehicle 1.
• the execution unit 23 controls the operation of, for example, the engine 11, the hydraulic control unit 12, and the display device 13.
• the execution unit 23 can execute a rider assistance operation that assists in adjusting the positional relationship between the positional relationship adjustment target and the lean vehicle 1.
• the positional relationship adjustment target is a target for adjusting the positional relationship in the rider assistance operation.
• the execution unit 23 executes the rider assistance operation based on positional relationship information between the positional relationship adjustment target and the lean vehicle 1.
• the positional relationship information may include, for example, information on the relative position, relative distance, relative speed, relative acceleration, relative jerk, or passing time difference of the lean vehicle 1 with respect to the positional relationship adjustment target.
• the positional relationship information may be information on other physical quantities that can be substantially converted into these pieces of information.
• the positional relationship information may be acquired based on ambient environment information of the lean vehicle 1 acquired from the ambient environment sensor 15 or the like.
• the above rider assistance operation includes a positional relationship adjustment operation that brings the positional relationship between the positional relationship adjustment target and the lean vehicle 1 closer to a target positional relationship by controlling the speed of the lean vehicle 1.
• An example of the positional relationship adjustment operation is adaptive cruise control.
• the positional relationship adjustment operation may be an operation other than adaptive cruise control.
• An operation other than adaptive cruise control is, for example, an operation that is not released even when the rider operates the accelerator, and the target positional relationship changes depending on the amount of accelerator operation.
• a target inter-vehicle distance is set as a target value of the inter-vehicle distance between the lean vehicle 1 and the preceding vehicle, and the execution unit 23 controls the speed of the lean vehicle 1 so that the inter-vehicle distance between the lean vehicle 1 and the preceding vehicle is maintained at the target inter-vehicle distance.
• the inter-vehicle distance may mean the distance in the direction along the lane (specifically, the driving lane of the lean vehicle 1) or may mean the straight-line distance.
• the inter-vehicle distance between the lean vehicle 1 and the preceding vehicle may be obtained based on, for example, the surrounding environment information of the lean vehicle 1.
• a target passing time difference which is a target value of the passing time difference
• the execution unit 23 may control the speed of the lean vehicle 1 so that the passing time difference is maintained at the target passing time difference.
• the passing time difference is, specifically, the time it takes for the lean vehicle 1 to pass the current position of the preceding vehicle from the current time.
• the passing time difference can be obtained, for example, based on the surrounding environment information of the lean vehicle 1.
• the execution unit 23 starts adaptive cruise control, for example, when an operation by the rider using the input device 14 is used as a trigger.
• adaptive cruise control the execution unit 23 automatically controls the speed of the lean vehicle 1 without the rider's acceleration/deceleration operation (i.e., accelerator operation and brake operation).
• the execution unit 23 can control the speed of the lean vehicle 1 based on information on the speed of the lean vehicle 1 acquired based on, for example, the wheel speed of the front wheels and the wheel speed of the rear wheels.
• the rider assistance operation includes a braking operation that automatically controls the braking force acting on the lean vehicle 1 according to the possibility of the lean vehicle 1 colliding with the positional relationship adjustment target.
• the braking operation includes an operation that automatically amplifies the braking force acting on the lean vehicle 1 according to the possibility of the lean vehicle 1 colliding with the vehicle ahead in a situation where the rider of the lean vehicle 1 is braking.
• the braking operation includes an operation that automatically generates a braking force on the lean vehicle 1 according to the possibility of the lean vehicle 1 colliding with the vehicle ahead in a situation where the rider of the lean vehicle 1 is not braking.
• the rider assistance operation includes a notification operation for supporting the adjustment of the positional relationship between the positional relationship adjustment target and the lean vehicle 1 by notifying the rider of the lean vehicle 1.
• Examples of the notification operation include a forward collision warning (FCW) and the like.
• the forward collision warning is an operation of warning the presence or approach of an obstacle such as a vehicle located ahead of the lean vehicle 1.
• the execution unit 23 judges whether the collision possibility exceeds a standard based on the vehicle distance between the lean vehicle 1 and the vehicle ahead, and the relative speed of the lean vehicle 1 with respect to the vehicle ahead. If it is judged that the collision possibility exceeds the standard, the execution unit 23 issues a warning to the rider using the display device 13, for example.
• the notification operation such as the forward collision warning may be performed using a notification device other than the display device 13 (for example, a sound output device or a vibration generating device, etc.).
• the notification device may be mounted on the lean vehicle 1, or may be mounted on the rider's wear (for example, a helmet, etc.).
• the notification operation such as a forward collision warning may be performed by a haptic operation that causes a momentary decrease or increase in acceleration of the lean vehicle 1.
• the engine 11 or the hydraulic control unit 12 performs the function of the notification device.
• the collision possibility in the above forward collision warning corresponds to the possibility that the lean-to vehicle 1 will collide with the vehicle ahead even if the vehicle ahead does not brake suddenly.
• a notification operation when the lean-to vehicle 1 is traveling following the vehicle ahead, if the vehicle ahead brakes suddenly, the possibility of the lean-to vehicle 1 colliding with the vehicle ahead (i.e., potential collision possibility) will be
• an operation of notifying the rider of the lean vehicle 1 may be performed.
• the execution unit 23 notifies the rider of the lean vehicle 1 when the inter-vehicle distance between the lean vehicle 1 and the preceding vehicle is shorter than a reference distance and the absolute value of the relative speed between the lean vehicle 1 and the preceding vehicle is smaller than the reference speed.
• the above rider assistance operation is not limited to the example described above, as described later.
• the rider assistance operation in which an object located in front of the lean vehicle 1 is set as the positional relationship adjustment target will be mainly described.
• the execution unit 23 may execute a rider assistance operation in which an object located behind the lean vehicle 1 is set as the positional relationship adjustment target.
• a rear surrounding environment sensor is provided on the lean vehicle 1 as the surrounding environment sensor 15 that detects surrounding environment information behind the lean vehicle 1, and the rider assistance operation is executed based on the surrounding environment information detected by the rear surrounding environment sensor.
• the execution unit 23 executes the first and second judgments as judgments for appropriately setting the positional relationship adjustment target. These judgments are made taking into account the change in the road width w occupied by the running of the lean vehicle 1 according to the running state of the lean vehicle 1. As a result, as described later, the positional relationship adjustment target is appropriately set, and the driving of the rider of the lean vehicle 1 is appropriately supported. Note that, as described later, when setting the positional relationship adjustment target, at least the first judgment needs to be executed, and the second judgment does not necessarily have to be executed.
• FIG. 4 is a diagram showing a first example of a positional relationship between a lean vehicle 1 and an object 2 around the lean vehicle 1.
• a lane L1 and a lane L2 are adjacent to each other with a lane boundary LB in between.
• the lean vehicle 1 is traveling in the lane L2.
• the object 2 corresponds to a candidate for a positional relationship adjustment target.
• the object 2 is a vehicle.
• the object 2 may include various types of vehicles such as a four-wheeled automobile, a truck, and a motorcycle.
• the object 2 is not limited to a vehicle, and may be, for example, a pedestrian.
• object 2a is located in front of lean vehicle 1 in lane L2.
• the execution unit 23 determines whether the position of at least one target 2 is included in the reference area R.
• the reference area R means an area through which the road width W occupied by the running of the lean vehicle 1 passes. In other words, the reference area R means an area through which the lean vehicle 1 occupying the road width W passes by.
• the position of the target 2 is included in the reference area R, it means that at least a part of the target 2 is located within the reference area R.
• the position of the target 2 may be the current position of the target 2 or the future position of the target 2.
• the position of the target 2 may be the position where the target 2 was located in the past. From the viewpoint of performing the rider assistance operation with high accuracy, it is preferable that the position of the target 2 is the current position and/or the future position.
• the execution unit 23 determines in the first determination that the position of the target 2 is included in the reference area R when at least a part of the target 2 is currently located within the reference area R and/or is predicted to be located within the reference area R in the future.
• the acquisition unit 21 acquires driving trajectory information, which is information on the driving trajectory of the lean vehicle 1, and occupied road width information, which is information on the road width w occupied by the driving of the lean vehicle 1.
• the travel trajectory information is information indicating a future trajectory, which is a trajectory predicted to be traveled by the lean vehicle 1 in the future.
• the travel trajectory information is information indicating a trajectory actually traveled by the lean vehicle 1.
• the information may include information indicating a measured trajectory, which is a measured trajectory including a past trajectory and/or a current position.
• the acquisition unit 21 acquires the travel trajectory information based on, for example, information regarding the behavior of the lean vehicle 1.
• the information regarding the behavior of the lean vehicle 1 is, for example, information such as speed, acceleration, lateral acceleration, jerk, lateral jerk, yaw rate, lean angle, steering angle, etc.
• the information regarding the behavior of the lean vehicle 1 may include not only information regarding the current behavior of the lean vehicle 1, but also information regarding the behavior predicted as the future behavior of the lean vehicle 1.
• the acquisition unit 21 acquires the occupied road width information based on the driving state information of the lean vehicle 1.
• the driving state information is, specifically, information on the driving state that affects the posture of the lean vehicle 1.
• the acquisition unit 21 acquires the occupied road width information based on the lean angle 0 of the lean vehicle 1.
• the occupied road width information may be information indicating the value of the road width W calculated strictly in accordance with geometry, etc., or may be information indicating the approximate value of the road width w.
• the occupied road width information may be information indicating which of several widths classified into several stages. Information other than the lean angle 0 may be used as information on the driving state that affects the posture of the lean vehicle 1.
• Information other than the lean angle 0 is, for example, information on the yaw rate of the lean vehicle 1, information on the steering angle, etc.
• the acquisition unit 21 may acquire the road width W by adding margins on both sides to the width estimated to be occupied by the running of the lean vehicle 1.
• the margins may change according to information on the behavior of the lean vehicle 1 (for example, the speed of the lean vehicle 1, etc.).
• the acquisition unit 21 acquires the occupied road width information based on the dimensional information of the lateral protrusion of the lean vehicle 1.
• the lateral protrusion include a mirror, a pedal, a step, and a muffler.
• the acquisition unit 21 acquires the occupied road width information based on the passenger information of the lean vehicle 1.
• the passenger information include, for example, the size information of the rider of the lean vehicle 1, the size information of the passenger, the size information of the rider's wear, and the size information of the passenger's wear.
• the acquisition unit 21 acquires the occupied road width information based on the cargo information of the lean vehicle 1.
• the cargo information include, for example, the size information of the side case, the size information of the luggage, and the like.
• the acquisition unit 21 may acquire occupied road width information by combining any two or more types of information among the dimensional information of the lateral protrusions of the lean vehicle 1, the occupant information of the lean vehicle 1, and the cargo information of the lean vehicle 1.
• the execution unit 23 performs a first determination to determine whether the position of the target 2 is included in the reference area R based on target position information, which is information about the position of the target 2.
• the execution unit 23 determines in the first judgment that the reference region R includes the current position of the target 2a.
• the information indicating the current position of the target 2 may be acquired, for example, based on the surrounding environment information of the lean vehicle 1.
• the execution unit 23 may determine whether the future position of the target 2a is included in the reference region R in the first judgment.
• the information indicating the future position of the target 2 may be acquired, for example, based on the information on the behavior of the target 2 acquired based on the surrounding environment information of the lean vehicle 1 (for example, information on speed, acceleration, lateral acceleration, jerk, lateral jerk, etc.).
• the information on the behavior of the target 2 may include not only information on the current behavior of the target 2, but also information on the behavior predicted as the future behavior of the target 2.
• the execution unit 23 may determine whether or not the reference area R includes a past position of the object 2a.
• the fact that the current position of the target 2 a is included in the reference area R specifically means that a part of the area 3 currently occupied by the target 2 a is included in the reference area R.
• the execution unit 2 3 determines whether or not a part of the area 3 currently occupied by the target 2 a is included in the reference area R.
• the execution unit 23 judges that the reference area R includes the current position of the target 2a.
• the execution unit 23 may also judge whether the reference area R includes the future position of the target 2a in the first judgment.
• the inclusion of the future position of the target 2a in the reference area R means that a part of the area 3 that the target 2 will occupy in the future is included in the reference area R.
• the execution unit 23 performs the first judgment by taking into account the dimensional information (e.g., width information) of the area 3 occupied by the target 2.
• the dimensional information (e.g., width information) of the area 3 occupied by the target 2 can be acquired by the acquisition unit 21 based on the surrounding environment information of the lean vehicle 1, for example.
• the acquisition unit 21 may acquire, as the above dimensional information, information on the width estimated to be occupied by the target 2 plus a margin on the left and right.
• the above margin may change according to information on the behavior of the target 2 (e.g., the speed of the target 2, etc.).
• the dimensional information of the area 3 occupied by the target 2 may be set in advance.
• the dimensional information of the area 3 occupied by the object 2 may be set according to the type of vehicle of the object 2, whether the object 2 is a vehicle or a pedestrian, or the direction of travel of the object 2.
• Fig. 5 is a diagram showing a second example of the positional relationship between the lean vehicle 1 and the object 2 around the lean vehicle 1.
• the lean vehicle 1 is traveling in a position close to the lane boundary LB in the lane L2.
• the object 2b is located ahead of the lean vehicle 1 in the lane L2, and the object 2c is traveling in the lane L1.
• the second determination is performed when it is not determined in the first determination that the position of the object 2 is included in the reference region R.
• the execution unit 23 determines whether or not the lean vehicle 1 is allowed to pass through the gap G between the objects 2. For example, in the example of FIG. 5, the execution unit 23 determines whether or not the lean vehicle 1 is allowed to pass through the gap G between the object 2b and the object 2c in the second determination.
• the execution unit 23 can determine whether the lean vehicle 1 can pass through the gap G by, for example, determining whether the lean vehicle 1 can pass through the gap G. For example, when the road width W occupied by the lean vehicle 1 is wider than the gap G, the execution unit 23 determines that the lean vehicle 1 cannot pass through the gap G and determines that the lean vehicle 1 cannot pass through the gap G. On the other hand, when the road width W occupied by the lean vehicle 1 is narrower than the gap G, the execution unit 23 determines that the lean vehicle 1 can pass through the gap G and determines that the lean vehicle 1 can pass through the gap G.
• the execution unit 23 may determine whether or not the lean vehicle 1 is allowed to pass through the gap G, taking into consideration the safety of the lean vehicle 1 passing through the gap G. For example, even if the road width W occupied by the lean vehicle 1 is narrower than the gap G, if the difference between the road width W and the gap G is smaller than a predetermined value, the execution unit 23 may determine that the safety of the pass-through is low and that the lean vehicle 1 is not allowed to pass through the gap G.
• the predetermined value is set to a value that can ensure a difference between the road width W and the gap G to a degree that can prevent contact between the lean vehicle 1 and at least two objects 2 (e.g., objects 2b and 2c) that form the gap G.
• the execution unit 23 executes the second judgment based on the occupied road width information and gap information, which is information on the gap G between the objects 2.
• the gap information is acquired by the acquisition unit 21.
• the acquisition unit 21 acquires the gap information based on the surrounding environment information of the lean vehicle 1. Specifically, the acquisition unit 21 acquires information on the positional relationship between the objects 2 as the surrounding environment information.
• the gap G is, for example, the separation distance between the objects 2 in the lane width direction.
• the execution unit 23 executes the second judgment based on the occupied road width information and the gap information, which is information on the positional relationship between the objects 2.
• the acquisition unit 21 acquires not only the occupied road width information for setting the reference area R used in the first judgment, but also the occupied road width information used in the second judgment based on the driving condition information.
• the occupied road width information used in the second judgment does not have to be acquired based on the driving condition information.
• Fig. 6 is a flowchart showing a first example of a process flow performed by the control device 20.
• Step S101 in Fig. 6 corresponds to the start of the control flow shown in Fig. 6.
• Step S109 in Fig. 6 corresponds to the end of the control flow shown in Fig. 6.
• the control flow shown in Fig. 6 is executed repeatedly, for example, at preset time intervals.
• step S102 the execution unit 23 executes a first judgment on all detected objects 2.
• the target 2 corresponds to a candidate for a positional relationship adjustment target.
• the execution unit 23 can detect the target 2, for example, based on the surrounding environment information acquired from the surrounding environment sensor 15. In this case, the target 2 located within the detection range of the surrounding environment sensor 15 is detected. However, the execution unit 23 may detect the target 2, for example, based on the surrounding environment information acquired through wireless communication with other vehicles or infrastructure facilities.
• step S1O3 the execution unit 23 determines whether or not the first judgment has determined that there is at least one object 2 whose position is included in the reference region R.
• step S!O3/YES If the first judgment determines that there is at least one object 2 whose location is included in the reference region R (step S!O3/YES), proceed to step S!O4. On the other hand, if the first judgment determines that there is no object 2 whose location is included in the reference region R (step S1O3/NO), proceed to step S105.
• step S104 the execution unit 23 sets a positional relationship adjustment target based on the judgment result of the first judgment, and the control flow shown in FIG. 6 ends.
• step S104 the execution unit 23 sets the target 2 as the positional relationship adjustment target.
• the execution unit 23 sets the target 2a as the positional relationship adjustment target.
• FIG. 7 is a diagram showing a third example of the positional relationship between the lean vehicle 1 and objects 2 around the lean vehicle 1.
• the lean vehicle 1 is traveling in lane L2.
• object 2d is located ahead of the lean vehicle 1 in lane L2
• object 2e is located further ahead of object 2d in lane L2.
• the positions of objects 2d and 2e are included in the reference region R.
• the current position is included. Therefore, in the first determination, the execution unit 23 determines that the position of the object 2d is included in the reference area R and that the position of the object 2e is included in the reference area R.
• step S104 of FIG. 6 the execution unit 23 sets one of the multiple targets 2 as a positional relationship adjustment target based on the positional relationship between the lean vehicle 1 and each of the multiple targets 2.
• Information on the positional relationship between the lean vehicle 1 and each of the multiple targets 2 can be acquired based on, for example, ambient environment information of the lean vehicle 1.
• the execution unit 23 sets the target 2 located closest to the lean vehicle 1 among the multiple targets 2 as the positional relationship adjustment target.
• the execution unit 23 sets the target 2d as the positional relationship adjustment target.
• the target 2 located closest to the lean vehicle 1 may be the target 2 with the shortest straight-line distance to the lean vehicle 1, or may be the target 2 located closest to the lean vehicle 1 in the front-rear direction.
• the execution unit 23 may set a virtual target located at a position where the relative position of each target 2 with respect to the lean vehicle 1 is standardized (for example, averaged) based on the positional relationship between the lean vehicle 1 and each of the multiple targets 2 as the positional relationship adjustment target.
• the virtual target is a virtual target located between target 2d and target 2e.
• step S105 the execution unit 23 executes a second judgment to determine whether or not the lean vehicle 1 is allowed to pass through the gap G. Specifically, the execution unit 23 executes the second judgment for all gaps G formed by all detected objects 2.
• Fig. 8 is a diagram showing a fourth example of the positional relationship between the lean vehicle 1 and the object 2 around the lean vehicle 1.
• the lean vehicle 1 is traveling in lane L2.
• Object 2f is located in front of the lean vehicle 1 in lane L2.
• Objects 2g and 2h are traveling in lane L1.
• Object 2h is located in front of object 2g in lane L1.
• objects 2h, 2f, and 2g are lined up in this order from the front.
• step S105 the execution unit 23 determines whether or not the lean vehicle 1 is permitted to pass through the gap G between the object 2f and the object 2g, and further determines whether or not the lean vehicle 1 is permitted to pass through the gap G between the object 2f and the object 2h.
• step S106 the execution unit 23 determines whether or not there is at least one gap G that does not allow passing through in the second determination. For example, when the gap information in the second determination indicates that there is at least one gap G that does not allow passing through, the execution unit 23 determines that there is at least one gap G that does not allow passing through.
• step S106/YES If it is determined in the second judgment that there is at least one gap G that does not allow passing through (step S106/YES), proceed to step S107. On the other hand, if it is determined in the second judgment that there is no gap G that does not allow passing through (step S106/NO), proceed to step S108.
• step S107 the execution unit 23 sets one of the multiple targets 2 (e.g., all detected targets 2) as a positional relationship adjustment target based on the positional relationship between the lean vehicle 1 and each of the multiple targets 2, and the control flow shown in FIG. 6 ends.
• the multiple targets 2 e.g., all detected targets 2
• the execution unit 23 sets, for example, the target 2 located closest to the lean vehicle 1 among the multiple targets 2 as the positional relationship adjustment target.
• the execution unit 23 may set, as the positional relationship adjustment target, the target 2 located closest to the lean vehicle 1 in the front-rear direction among the multiple targets 2.
• the execution unit 23 may set, as the positional relationship adjustment target, the target 2 located closest to the lean vehicle 1 in the lane width direction among the multiple targets 2.
• Which target 2 among the multiple targets 2 is set as the positional relationship adjustment target can be changed depending on the type of rider assistance operation to which the positional relationship adjustment target is applied.
• a positional relationship adjustment operation e.g., adaptive cruise control
• a rider assistance operation to bring the positional relationship between a positional relationship adjustment target and the lean vehicle 1 closer to a target positional relationship by controlling the speed of the lean vehicle 1, and when a forward vehicle located in front of the lean vehicle 1 is set as the positional relationship adjustment target
• the execution unit 23 sets, among multiple targets 2, the target 2 located closest to the lean vehicle 1 in the fore-and-aft direction as the positional relationship adjustment target.
• the execution unit 23 sets, among the multiple targets 2, the target 2 located closest to the lean vehicle 1 in the fore-and-aft direction as the positional relationship adjustment target.
• the execution unit 23 may determine whether the object 2 is traveling in the same lane as the lean vehicle 1 based on the surrounding environment information acquired by the surrounding environment sensor 15. In particular, when the positional relationship adjustment operation is executed as a rider assistance operation, it is preferable to set the object 2 located closest to the lean vehicle 1 in the front-rear direction among the multiple objects 2 traveling in the lane L2 when the lean vehicle 1 is traveling in the lane L2 as the positional relationship adjustment target.
• a rear vehicle located behind the lean vehicle 1 may be set as the positional relationship adjustment target.
• the execution unit 23 sets the target 2 located closest to the lean vehicle 1 in the fore-and-aft direction among the multiple targets 2 as the positional relationship adjustment target.
• a group consisting of multiple lean vehicles including lean vehicle 1 may form multiple convoys and perform group driving.
• group driving multiple lean vehicles drive in two convoys, a left convoy and a right convoy, in the same lane.
• group driving multiple lean vehicles drive in an arrangement in which the lean vehicles forming the left convoy and the lean vehicles forming the right convoy alternate in the front-to-back direction (i.e., a zigzag arrangement).
• a positional relationship adjustment operation may be performed to maintain a line of multiple vehicles while riding in a group.
• at least one of the multiple lean vehicles that make up the group may be adjusted to the appropriate position.
• No target is selected, and the control flow shown in Fig. 6 ends. For example, if none of the targets 2 are set as the positional relationship adjustment target, the state in which no positional relationship adjustment target is set continues in step S108. Also, for example, if any of the targets 2 are set as the positional relationship adjustment target, the setting of the positional relationship adjustment target is not changed in step S108.
• the process performed by the control device 20 may be a process obtained by appropriately modifying the process described with reference to Fig. 6.
• step S106 an example is described in which it is determined whether or not at least one gap G that does not allow slip-through driving is present in the second judgment.
• step S106 it may be determined whether or not a gap G that allows slip-through driving is not present in the second judgment.
• the gap information is information indicating that a gap G that allows slip-through driving does not exist
• the execution unit 23 determines that a gap G that allows slip-through driving does not exist. In this case, if it is determined in the second judgment that a gap G that allows slip-through driving does not exist, the process proceeds to step S107, and if at least one gap G that allows slip-through driving is present in the second judgment, the process proceeds to step S108.
• step S108 the execution unit 23 may select the positional relationship adjustment target.
• the execution unit 23 may set the object 2 located closest to the lean vehicle 1 as the positional relationship adjustment target.
• Fig. 9 is a flowchart showing a second example of the flow of processing performed by the control device 20.
• Step S201 in Fig. 9 corresponds to the start of the control flow shown in Fig. 9.
• Step S213 in Fig. 9 corresponds to the end of the control flow shown in Fig. 9.
• the control flow shown in Fig. 9 is executed repeatedly, for example, at preset time intervals.
• step S202 the execution unit 23 executes a first judgment on the object 2 located closest to the lean vehicle 1 among all the detected objects 2.
• the object 2 located closest to the lean vehicle 1 may be the object 2 with the shortest straight-line distance to the lean vehicle 1, or may be the object 2 located closest to the lean vehicle 1 in the front-rear direction.
• step S203 the execution unit 23 determines in the first judgment whether the position of the object 2 located closest to the lean vehicle 1 is included in the reference region R.
• step S203/YES If the first judgment determines that the position of the object 2 located closest to the lean vehicle 1 is included in the reference region R (step S203/YES), proceed to step S204. On the other hand, if the first judgment determines that the position of the object 2 located closest to the lean vehicle 1 is not included in the reference region R (step S203/NO), proceed to step S205.
• step S204 the execution unit 23 determines that the object 2 located closest to the lean vehicle 1 is included in the reference region R as the positional relationship adjustment target. Then, the control flow shown in FIG. 9 ends.
• step S205 the execution unit 23 judges whether or not another object 2 exists around the object 2 located closest to the lean vehicle 1. For example, if another object 2 exists within a range within a predetermined distance from the object 2 located closest to the lean vehicle 1, the execution unit 23 judges that another object 2 exists around the object 2 located closest to the lean vehicle 1.
• step S205/NO If it is determined that no other object 2 exists around the object 2 located closest to the lean vehicle 1 (step S205/NO), proceed to step S206. On the other hand, if it is determined that another object 2 exists around the object 2 located closest to the lean vehicle 1 (step S205/YES), proceed to step S207.
• step S206 If it is determined that no other object 2 exists around the object 2 located closest to the lean vehicle 1 (step S205/NO), in step S206, the execution unit 23 does not select a positional relationship adjustment target, and the control flow shown in Fig. 9 ends.
• the process of step S206 is the same as the process of step S!08 in Fig. 6.
• step S207 the execution unit 23 executes a second determination. Specifically, the execution unit 23 executes a second determination for all gaps G formed between the object 2 located closest to the lean vehicle 1 and the other objects 2 existing around the object 2, to determine whether or not the lean vehicle 1 is allowed to pass through the gaps G.
• step S208 the execution unit 23 judges whether or not it is judged in the second judgment that there is at least one gap G that does not allow passing through. As described above, for example, when the gap information is information indicating that there is at least one gap G that does not allow passing through, the execution unit 23 judges that there is at least one gap G that does not allow passing through.
• step S208/YES If it is determined in the second judgment that there is at least one gap G that does not allow passing through (step S208/YES), proceed to step S209. On the other hand, if it is determined in the second judgment that there is no gap G that does not allow passing through (step S208/NO), proceed to step S210.
• step S209 the execution unit 23 sets a positional relationship adjustment target based on the positional relationship between the lean vehicle 1 and each of multiple objects 2 (for example, the object 2 located closest to the lean vehicle 1 and other objects 2 existing around the object 2), and the control flow shown in FIG. 9 ends.
• the processing in step S209 is similar to the processing in step S107 in FIG. 6.
• step S210 the execution unit 23 performs a third judgment to determine whether the position of the target 2 for which the first judgment has not yet been performed is included in the reference area R.
• step S211 the execution unit 23 performs the third judgment. It is then determined whether or not there is at least one object 2 whose location is included in the reference region R.
• step S211/YES If the third judgment determines that there is at least one object 2 whose position is included in the reference region R (step S211/YES), proceed to step S212. On the other hand, if the third judgment determines that there is no object 2 whose position is included in the reference region R (step S211/NO), proceed to step S206.
• step S212 If it is determined in the third judgment that there is at least one object 2 whose position is included in the reference region R (step S211/YES), in step S212, the execution unit 23 sets a positional relationship adjustment target based on the judgment result of the third judgment, and the control flow shown in Fig. 9 ends.
• the processing of step S212 is similar to the processing of step S104 in Fig. 6.
• step S206 the execution unit 23 does not select a positional relationship adjustment target, and the control flow shown in FIG. 9 ends.
• the process performed by the control device 20 may be a process obtained by appropriately modifying the process described with reference to Fig. 9.
• step S208 it may be determined that there is no gap G that allows slip-through driving in the second judgment.
• the gap information is information indicating that there is no gap G that does not allow slip-through driving
• the execution unit 23 determines that there is no gap G that does not allow slip-through driving. In this case, if it is determined that there is no gap G that allows slip-through driving in the second judgment, the process proceeds to step S209, and if there is at least one gap G that allows slip-through driving in the second judgment, the process proceeds to step S21 ⁇ .
• step S206 the execution unit 23 may select a positional relationship adjustment target.
• the execution unit 23 may set the object 2 located closest to the lean vehicle 1 as the positional relationship adjustment target.
• the first and second examples have been described as examples of the processing performed by the control device 20.
• the control device 20 executes the processing of the first or second example, for example.
• the object 2 close to the lean vehicle 1 is more likely to be preferentially set as the positional relationship adjustment target, so that it is easier to set the positional relationship adjustment target with higher accuracy than in the first example.
• the processing performed by the control device 20 is not limited to the first and second examples.
• the control device 20 only needs to perform at least the first judgment, so for example, it may set the positional relationship adjustment target without performing the second judgment.
• the acquisition unit 21 may set not only the occupied road width information for setting the reference area R used in the first judgment, but also the occupied road width information for setting the reference area R used in the second judgment and/or the occupied road width information for setting the reference area R used in the third judgment, based on the driving condition information.
• the acquisition unit 21 may set not only the occupied road width information for setting the reference area R used in the first judgment, but also the occupied road width information for setting the reference area R used in the second judgment and/or the occupied road width information for setting the reference area R used in the third judgment, based on the driving condition information.
• the control device 20 of the lean vehicle 1 includes an acquisition unit 21 that acquires travel trajectory information, which is information on the travel trajectory of the lean vehicle 1, and occupied road width information, which is information on the road width w occupied by the travel of the lean vehicle 1; a setting unit 22 that sets a reference area R based on the travel trajectory information and the occupied road width information; and an execution unit 23 that performs a rider assistance operation to assist in adjusting the positional relationship between the lean vehicle 1 and a positional relationship adjustment target.
• the execution unit 23 executes a first determination to determine whether the position of at least one object 2 is included in the reference area R, and sets the positional relationship adjustment target based on the determination result of the first determination.
• the acquisition unit 21 sets the occupied road width information for setting the reference area R used in the first determination based on the travel state information of the lean vehicle 1. This makes it possible to set the positional relationship adjustment target taking into account the change in the road width W occupied by the traveling of the lean vehicle 1 according to the traveling condition. Therefore, it is possible to appropriately support the driving of the rider of the lean vehicle 1.
• the execution unit 23 sets the object 2 as a positional relationship adjustment target.
• the positional relationship between the reference area R which is an area through which the road width W occupied by the running of the lean vehicle 1 will pass in the future, and the object 2 can be appropriately set as the positional relationship adjustment target.
• the execution unit 23 sets the target 2 located closest to the lean vehicle 1 among the multiple targets 2 as the positional relationship adjustment target.
• the positions of multiple targets 2 are included in the reference area R, it is more appropriate to set the positional relationship adjustment target appropriately by taking into account the positional relationship between the reference area R, which has the road width W occupied by the running of the lean vehicle 1 as its width and is an area extending along the running trajectory of the lean vehicle 1, and the multiple targets 2.
• the acquisition unit 21 acquires gap information, which is information on the gap G between the objects 2, based on the surrounding environment information of the lean vehicle 1.
• the execution unit 23 performs a second determination to determine whether or not the lean vehicle 1 is allowed to pass through the gap G based on the occupied road width information and the gap information, and sets a positional relationship adjustment target based on the result of the second determination in addition to the result of the first determination.
• the acquisition unit 21 acquires not only the occupied road width information for setting the reference area R used in the first judgment, but also the occupied road width information used in the second judgment. is also acquired based on the driving condition information. This allows the second judgment to be performed taking into account the change in the road width W occupied by the lean vehicle 1 according to the driving condition, thereby improving the accuracy of the second judgment.
• the execution unit 23 sets a positional relationship adjustment target based on the positional relationship between the lean vehicle 1 and each of the multiple targets 2.
• the positional relationship adjustment target can be appropriately set, and the driving by the rider of the lean vehicle 1 can be appropriately supported.
• the execution unit 23 determines in the second determination that the gap information indicates that there is at least one gap G that does not allow passing through, the execution unit 23 sets the target 2 located closest to the lean vehicle 1 in the front-rear direction among the multiple targets 2 as the positional relationship adjustment target.
• the positional relationship adjustment target is appropriately set, and the driving of the rider of the lean vehicle 1 is appropriately supported.
• the execution unit 23 sets, among the multiple targets 2, the target 2 that is located closest to the lean vehicle 1 in the lane width direction as the positional relationship adjustment target.
• the positional relationship adjustment target is appropriately set, and the driving by the rider of the lean vehicle 1 is appropriately supported.
• the execution unit 23 when it is determined in the second determination that the gap information is information indicating that there is at least one gap G that allows passing through, and when there is an object 2 for which the first determination has not yet been performed, the execution unit 23 performs a third determination to determine whether the position of the object 2 is included in the reference area R, and sets a positional relationship adjustment target based on the determination result of the third determination.
• the positional relationship adjustment target taking into account the positional relationship between the reference area R, which is an area that has the road width W occupied by the lean vehicle 1 as its width and extends along the running trajectory of the lean vehicle 1, and the object 2.
• the acquisition unit 21 sets not only the occupied road width information for setting the reference area R used in the first judgment, but also the occupied road width information for setting the reference area R used in the second judgment and/or the occupied road width information for setting the reference area R used in the third judgment based on the driving condition information.
• the acquisition unit 21 acquires the occupied road width information based on the dimensional information of the lateral protrusion of the lean vehicle 1. This makes it possible to accurately acquire the occupied road width information by taking into account the dimensional information of the lateral protrusion of the lean vehicle 1.
• the acquisition unit 21 acquires the occupied road width information based on the passenger information of the lean vehicle 1. This makes it possible to accurately acquire the occupied road width information by taking into account the passenger information of the lean vehicle 1.
• the acquisition unit 21 acquires the occupied road width information based on the cargo information of the lean vehicle 1. This makes it possible to acquire the occupied road width information with high accuracy by taking into account the cargo information of the lean vehicle 1.
• the present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

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• 2024
  • 2024-03-18 JP JP2025513498A patent/JPWO2024213952A1/ja active Pending
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