Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • 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
  • 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
  • B60W2556/20—Data confidence level
• • 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
  • 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
  • B60W2556/45—External transmission of data to or from the vehicle
• • 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 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.
• the control device of the present invention is a control device for a rider assistance system that assists a rider of a lean vehicle in driving, and comprises: an identification unit that performs at least the first process in a position identification process that identifies a relative position of the lean vehicle with respect to objects around the lean vehicle based on a detection result of an ambient environment sensor mounted on the lean vehicle; and a second process that identifies an absolute position of the lean vehicle based on a comparison result of the identification result of the relative position and a map; and an execution unit that executes a rider assistance operation that assists the rider in driving, and further comprises an acquisition unit that acquires reliability information which is information regarding the reliability of the position identification process, and the execution unit executes the rider assistance operation based on the reliability information.
• a control method is a control method for a rider assistance system that assists a rider of a lean vehicle in driving, wherein an identification unit of a control device performs at least a first process of a position identification process that identifies a relative position of the lean vehicle with respect to objects around the lean vehicle based on a detection result of an ambient environment sensor mounted on the lean vehicle, and a second process of an absolute position of the lean vehicle based on a comparison result of the identification result of the relative position and a map, and an execution unit of the control device performs a rider assistance operation that assists the rider in driving, and further, an acquisition unit of the control device acquires reliability information that is information regarding the reliability of the position identification process, and the execution unit performs the rider assistance operation based on the reliability information.
• a specific part of the control device is installed in a lean vehicle.
• the control device performs at least the first process in the position identification process, which includes a first process for identifying the relative position of the lean vehicle with respect to objects around the lean vehicle based on the detection results of the surrounding environment sensors detected by the surrounding environment sensors, and a second process for identifying the absolute position of the lean vehicle based on the results of comparing the relative position identification result with a map, and an execution unit of the control device executes a rider assistance operation for assisting the rider in driving.
• an acquisition unit of the control device acquires reliability information, which is information regarding the reliability of the position identification process, and the execution unit executes the rider assistance operation based on the reliability information. This makes it possible to assist the rider in driving the lean vehicle in accordance with the reliability of the position identification process. Therefore, it is possible to appropriately assist the rider in driving 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 block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.
• FIG. 3 A block diagram showing an example of the functional configuration of a server relating to an embodiment of the present invention.
• Figure 4 A figure showing a lean vehicle according to an embodiment of the present invention performing weaving through obstacles.
• Figure 5 A figure showing a group including a lean vehicle according to an embodiment of the present invention conducting group driving.
• FIG. 6I A flowchart showing the flow of a first example of processing performed by a control device according to an embodiment of the present invention.
• FIG. 7I A flow chart showing the flow of a second example of processing performed by a control device according to an embodiment of the present invention.
• FIG. 8 A flowchart showing the flow of a third example of processing performed by a control device according to an embodiment of the present invention.
• FIG. 9I A flowchart showing the flow of a fourth example of processing performed by a control device according to an embodiment of the present invention.
• FIG. 10 A flowchart showing the flow of a fifth example of processing performed by a 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) is installed as a drive source capable of outputting power for driving the drive wheels.
• a drive source other than an engine for example, an electric motor
• multiple drive sources may be installed.
• the brake fluid pressure is controlled as a control unit for the braking force acting on the wheels.
• a control unit that controls the position of the wheel braking part itself by an electrical signal specifically, hydraulic control unit 12 in Figure 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 at the wheel.
• 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 corresponding to an example of a lean vehicle according to the present invention.
• the lean vehicle 1 can wirelessly communicate with a server 2 via a wireless communication network N1.
• a plurality of vehicles including the lean vehicle 1 can communicate with the server 2 via the communication network N1.
• the plurality of vehicles that can communicate with the server 2 include, in addition to the lean vehicle 1, lean vehicles other than the lean vehicle 1, and four-wheeled automobiles.
• the lean vehicle 1 is equipped with a rider assistance system 10 that assists a rider in driving the lean vehicle 1.
• the rider assistance system 10 includes the above-mentioned components (i.e., the engine 11, the hydraulic control unit 12, the display device 13, the ambient environment sensor 14, the inertial measurement unit 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, the navigation device 18, and the control device 19).
• 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 toward the combustion chamber, and an ignition plug.
• a fuel injection valve that injects fuel toward 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 a function of controlling the braking force generated at the wheels.
• the hydraulic control unit 12 is a unit that has a function of controlling an oil passage that connects a master cylinder and a wheel cylinder.
• the hydraulic pressure control unit 12 includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure in the wheel cylinder.
• the operation of the components of the hydraulic pressure control unit 12 is controlled to control the braking force acting on the wheels.
• the hydraulic pressure 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 surrounding environment sensor 14 detects surrounding environment information related to the environment around the lean vehicle 1. Specifically, the surrounding environment sensor 14 is provided at the front of the lean vehicle 1 and detects surrounding environment information in front of the lean vehicle 1. The surrounding environment information detected by the surrounding environment sensor 14 is output to the control device 19.
• the surrounding environment information detected by the surrounding environment sensor 14 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 14 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, etc.
• the surrounding environment sensor 14 may be provided in a portion other than the front of the lean vehicle 1 and detect surrounding environment information at a portion other than the front of the lean vehicle 1.
• the surrounding environment sensor 14 may detect surrounding environment information behind the lean vehicle 1, or may detect surrounding environment information to the side of the lean vehicle 1.
• multiple surrounding environment sensors 14 may be provided in the lean vehicle 1, and in that case, each surrounding environment sensor 14 can detect surrounding environment information at multiple locations.
• the inertial measurement unit 15 includes a three-axis gyro sensor and a three-direction acceleration sensor, and detects the attitude of the lean vehicle 1.
• the inertial measurement unit 15 is provided, for example, on the body of the lean vehicle 1.
• the inertial measurement unit 15 detects the lean angle of the lean vehicle 1 and outputs the detection result.
• the inertial measurement unit 15 may detect other physical quantities that can be substantially converted into the lean angle of the lean vehicle 1.
• the lean angle corresponds to an angle that represents the inclination of the body (specifically, the body) of the lean vehicle 1 in the roll direction relative to the vertically upward direction.
• the inertial measurement unit 15 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensor.
• 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 navigation device 18 is a device that guides the rider along a route from the current position of the lean vehicle 1 to a destination desired by the rider.
• the navigation device 18 displays various information related to route guidance (for example, the current position of the lean vehicle 1, the driving route to be guided, the location of the destination, the distance on the driving route from the current position of the lean vehicle 1 to the destination, and the arrival time to the destination).
• the navigation device 18 can also obtain location information of the lean vehicle 1 based on information transmitted from a GPS (Global Positioning System) satellite.
• GPS Global Positioning System
• the control device 19 controls the rider assistance system 10.
• part or all of the control device 19 is configured with a microcomputer, a microprocessor unit, a memory, etc.
• part or all of the control device 19 may be configured with an updatable component such as firmware, or may be a program module executed by a command from a CPU, etc.
• the control device 19 may be, for example, a single device, or may be divided into multiple devices.
• Fig. 2 is a block diagram showing an example of a functional configuration of the control device 19.
• the control device 19 includes, for example, an acquisition unit 19a, a determination unit 19b, and an execution unit 19c.
• the control device 19 communicates with each device of the rider assistance system 10.
• the control device 19 also communicates with the server 2 via a communication network N1.
• the acquisition unit 19a acquires information from each device of the lean vehicle 1.
• the acquisition unit 19a acquires information from the surrounding environment sensor 14, the inertial measurement unit 15, the front wheel speed sensor 16, the rear wheel speed sensor 17, and the navigation device 18.
• acquisition of information may include extraction or generation of information (e.g., calculation), etc.
• the determination unit 19b performs processing for determining the absolute position of the lean vehicle 1.
• the result of the determination of the absolute position by the determination unit 19b is used, for example, in processing performed by the execution unit 19c. Details of the processing performed by the determination unit 19b will be described later.
• the execution unit 19c executes a rider assistance operation.
• the rider assistance operation is an operation that assists the rider of the lean vehicle 1 in driving the vehicle, and may include various operations.
• the execution unit 19c executes the rider assistance operation, for example, by appropriately controlling the operation of the engine 11, the hydraulic control unit 12, and the display device 13. The details of the rider assistance operation will be described later.
• Server 2 in Fig. 1 collects and manages information from multiple vehicles including lean vehicle 1, and transmits information used for various processes in each vehicle to each vehicle.
• part or all of server 2 is composed of a microcomputer, a microprocessor unit, or the like.
• part or all of server 2 may be composed of updatable firmware, or may be a program module executed by commands from a CPU, or the like.
• server 2 may be one, or may be divided into multiple servers.
• Fig. 3 is a block diagram showing an example of a functional configuration of the server 2.
• the server 2 includes, for example, an acquisition unit 2a, a generation unit 2b, and a storage unit 2c.
• the acquisition unit 2a acquires information obtained via the communication network N1. For example, the acquisition unit 2a acquires information transmitted from each vehicle.
• the generation unit 2b generates, based on the information collected from each vehicle, a map used for various processes in each vehicle (for example, information used for a rider assistance operation in the lean vehicle 1).
• the map is generated or updated.
• past detection results of the surrounding environment sensor 14 of each vehicle are associated with map data.
• the map integrates a huge amount of detection point data (specifically, data indicating three-dimensional position information in a three-dimensional space) detected by the surrounding environment sensor 14.
• the detection point data includes, for example, detection point data indicating landmarks such as buildings, detection point data indicating the positions of lane boundaries, and the like.
• the memory unit 2c stores various information.
• the memory unit 2c stores information acquired by the acquisition unit 2a.
• the generation unit 2b generates or updates a map based on the information stored in the memory unit 2c.
• the memory unit 2c stores a map generated or updated by the generation unit 2b.
• the identification unit 19b of the control device 19 performs a process for identifying the absolute position of the lean vehicle 1. Specifically, the identification unit 19b performs a position identification process as such a process. In the position identification process, the identification unit 19b executes a first process and a second process. However, as described later, the identification unit 19b may not execute the second process of the first process and the second process.
• the identification unit 19b identifies the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1 based on the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1. For example, the identification unit 19b acquires a plurality of detection point data indicated by the current detection result of the surrounding environment sensor 14 as the identification result of the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1.
• the result of identifying the relative position acquired in the first process is used to identify the absolute position of the lean vehicle 1 in the second process.
• the result of identifying the relative position acquired in the first process is also used to generate or update a map in the server 2. Therefore, the identification unit 19b wirelessly transmits the result of identifying the relative position acquired in the first process to the server 2, which is an external system.
• the identification unit 19b identifies the absolute position of the lean vehicle 1 based on the result of comparing the above-mentioned relative position identification with the map. For example, the identification unit 19b acquires a map indicating a range including the current position of the lean vehicle 1 (for example, a range within a predetermined distance centered on the current position) from the server 2. The identification unit 19b can acquire information indicating the approximate current position of the lean vehicle 1 from the navigation device 18, for example.
• the identification unit 19b matches the multiple detection point data indicated by the current detection result of the surrounding environment sensor 14 with the detection point data indicated on the map. For example, the identification unit 19b matches an approximation surface indicating the multiple detection point data indicated by the current detection result of the surrounding environment sensor 14 with an approximation surface indicating the multiple detection point data indicating a specific landmark on the map. After that, the identification unit 19b identifies the absolute position of the lean vehicle 1 based on the absolute position of the specific landmark on the map data and the relative position of the lean vehicle 1 with respect to the specific landmark. Note that the identification unit 19b performs the above matching by excluding detection point data indicating moving objects such as surrounding vehicles from the multiple detection point data indicated by the current detection result of the surrounding environment sensor 14.
• the execution unit 19c of the control device 19 performs the following operation based on the result of the determination of the absolute position by the determination unit 19b: Rider assistance operations are executed.
• Rider assistance operations are executed.
• operations that are executed based on the results of identifying the absolute position are also referred to as specific operations.
• the rider assistance operations may also include operations other than specific operations.
• the execution unit 19c may execute, for example, an operation to control the behavior of the lean vehicle 1 as the specific operation.
• An example of the operation to control the behavior of the lean vehicle 1 is adaptive cruise control.
• the execution unit 19c adjusts the positional relationship between the lean vehicle 1 and a target vehicle to a target positional relationship.
• the execution unit 19c automatically controls the speed of the lean vehicle 1 without the rider's acceleration/deceleration operation (i.e., accelerator operation and brake operation) using the information on the speed of the lean vehicle 1 acquired based on the wheel speed of the front wheels and the wheel speed of the rear wheels.
• the execution unit 19c controls the speed of the lean vehicle 1 so that the inter-vehicle distance between the lean vehicle 1 and the target vehicle becomes the target inter-vehicle distance.
• the execution unit 19c may control the speed of the lean vehicle 1 so that the passing time difference (specifically, the time it takes for the lean vehicle 1 to pass the current position of the target vehicle from the current time) becomes the target passing time difference.
• the execution unit 19 c controls the speed of the lean vehicle 1 to a set speed set by the rider.
• a target vehicle is selected from among the vehicles detected by the surrounding environment sensor 14.
• the execution unit 19c changes the detection range of the surrounding environment sensor 14 based on the absolute position of the lean vehicle 1. For example, when the lean vehicle 1 is traveling on the left or right side of the traveling lane, the execution unit 19c adjusts the detection range of the surrounding environment sensor 14 so that it does not overlap with the adjacent lane. In this way, the execution unit 19c can suppress the target vehicle from being erroneously set by changing the detection range of the surrounding environment sensor 14 according to the traveling position of the lean vehicle 1 in the lane width direction, for example.
• the operation of controlling the behavior of the lean vehicle 1 may be an operation other than adaptive cruise control.
• the operation of controlling the behavior of the lean vehicle 1 may be an operation other than adaptive cruise control among operations of adjusting the positional relationship between the lean vehicle 1 and the target vehicle to a target positional relationship.
• the operation of controlling the behavior of the lean vehicle 1 may be an operation of controlling the steering of the lean vehicle 1, etc. Note that in the operation of controlling the steering of the lean vehicle 1, the execution unit 19c applies a force to the steering wheel to assist the steering force of the rider, for example.
• the execution unit 19c may execute, for example, an operation of issuing a warning to the rider of the lean-in vehicle 1 as the specific operation.
• An example of an operation of issuing a warning to the rider is a forward collision warning.
• the forward collision warning is an operation of warning the rider of the approach of the lean-in vehicle 1 to the vehicle ahead.
• the execution unit 19c issues a warning to the rider when the possibility of a collision between the lean-in vehicle 1 and the vehicle ahead exceeds a standard.
• the execution unit 19c issues a warning to the rider using the display device 13.
• the method of issuing a warning to the rider is not limited to this example.
• the execution unit 19c may issue a warning to the rider using a display device provided on equipment worn by the rider (for example, a helmet).
• the execution unit 19c may issue a warning to the rider using a sound output device provided on the lean vehicle 1 or equipment worn by the rider.
• the execution unit 19c may issue a warning to the rider using a sound output device provided on the lean vehicle 1 or The warning may be executed by using a vibration generating device attached to something worn by the rider.
• the execution unit 19c may execute the warning to the rider by causing instantaneous acceleration/deceleration in the lean vehicle 1.
• the instantaneous acceleration/deceleration may be executed by using a drive source (e.g., the engine 11) of the lean vehicle 1, or may be executed by using a control unit for the braking force generated in the wheels (e.g., the hydraulic control unit 12), or may be executed by using a transmission mechanism of the lean vehicle 1.
• the execution unit 19c changes the detection range of the surrounding environment sensor 14 based on the absolute position of the lean vehicle 1. For example, when the lean vehicle 1 is traveling on the left or right side of the traveling lane, the execution unit 19c adjusts the detection range of the surrounding environment sensor 14 so that it does not overlap with the adjacent lane. In this way, the execution unit 19c changes the detection range of the surrounding environment sensor 14 according to the traveling position of the lean vehicle 1 in the lane width direction, for example, thereby suppressing a vehicle that is unlikely to be a target for warning from being erroneously set as a target for warning.
• the operation of warning the rider may be an operation other than the forward collision warning.
• the operation of warning the rider may be an operation of warning the rider of the approach of a rear vehicle to the leaning vehicle 1.
• the specific operation executed by the execution unit 19c may be an operation executed under some circumstances.
• the above-mentioned various specific operations may be executed under a situation in which the lean vehicle 1 is passing through another vehicle, which will be described below with reference to Fig. 4.
• the above-mentioned various specific operations may be executed under a situation in which a group is traveling, which will be described below with reference to Fig. 5.
• FIG. 4 is a diagram showing a state in which the lean vehicle 1 is passing through (so-called lane splitting).
• the lean vehicle 1 is passing through on the lane boundary LV of two adjacent driving lanes L1 and L2.
• other vehicles 3a and 3b are shown as other vehicles 3 around the lean vehicle 1.
• the other vehicle 3a is passing through the left driving lane L1
• the other vehicle 3b is passing through the right driving lane L2.
• the other vehicles 3a and 3b are passing through the lean vehicle 1 in front of the lean vehicle 1.
• the execution unit 19c can determine that the lean vehicle 1 is passing through when the lean vehicle 1 is located within an area having a predetermined width centered on the lane boundary LV.
• the execution unit 19c may execute adaptive cruise control after adjusting the detection range of the surrounding environment sensor 14 so that the other vehicles 3a and 3b do not enter the detection range. In addition, in the situation of Fig. 4, the execution unit 19c may execute adaptive cruise control after lowering the set speed. In addition, in the situation of Fig. 4, the execution unit 19c may execute forward collision warning after adjusting the detection range of the surrounding environment sensor 14 so that the other vehicles 3a and 3b do not enter the detection range.
• Fig. 5 is a diagram showing a group including lean vehicle 1 traveling in a group.
• group traveling a group consisting of multiple lean vehicles including lean vehicle 1 travels in a convoy.
• Fig. 5 shows lean vehicle 1 and some of the other vehicles 4a, 4b, 4c, and 4d that make up the group (i.e., lean vehicles in the group other than lean vehicle 1).
• the lean vehicles in the left-hand column and the lean vehicles in the right-hand column are basically arranged alternately in the front-to-back direction (i.e., in a zigzag pattern).
• the other vehicle 4a in the right-hand column, the other vehicle 4b in the left-hand column, the lean vehicle 1 in the right-hand column, the other vehicle 4c in the left-hand column, and the other vehicle 4d in the right-hand column are arranged in this order from the front in the front-to-back direction.
• the multiple lean vehicles basically drive in a zigzag arrangement. This makes it possible to shorten the distance between each vehicle in the longitudinal direction compared to when multiple lean vehicles drive in a single train. Therefore, it is possible to prevent the group from being divided by a traffic light.
• the execution unit 19c can determine whether the group including the lean vehicle 1 is driving in a group based on, for example, information for identifying other vehicles 4 constituting the group and the detection result of the other vehicles 4.
• the information for identifying the other vehicles 4 may be manually set in advance in the control device 19, or may be automatically generated by the control device 19 during driving.
• the execution unit 19c may execute adaptive cruise control by, for example, adjusting the detection range of the surrounding environment sensor 14 so as to expand the vehicle train to which the host vehicle does not belong (to expand to the left in the example of FIG. 5) based on the vehicle train to which the host vehicle belongs, and then execute adaptive cruise control.
• the other vehicle 4b which is a vehicle close to the host vehicle, can be set as the target vehicle.
• the execution unit 19c may execute adaptive cruise control by, for example, lowering the set speed.
• the execution unit 19c may execute forward collision warning by, for example, adjusting the detection range of the surrounding environment sensor 14 so as to shrink the opposite side of the vehicle train to which the host vehicle does not belong (to shrink the right side in the example of FIG. 5) based on the vehicle train to which the host vehicle belongs. This can prevent vehicles traveling in adjacent lanes from being mistakenly set as targets for a warning.
• the execution unit 19c may execute actions other than the examples given above as specific actions.
• the execution unit 19c may execute multiple types of actions as specific actions.
• the execution unit 19c may execute multiple types of actions arbitrarily selected from the examples given above as specific actions.
• the position identification process performed by the identification unit 19b is used in various technologies for assisting the rider in driving.
• the execution unit 19c of the control device 19 executes the rider assistance operation based on reliability information, which is information on the reliability of the position identification process.
• reliability information which is information on the reliability of the position identification process.
• Fig. 6 is a flowchart showing a first example flow of a control process performed by the control device 19.
• Step S101 in Fig. 6 corresponds to the start of the control flow shown in Fig. 6.
• step S102 the acquisition unit 19a acquires reliability information, which is information regarding the reliability of the position identification process.
• a first process (specifically, a process of identifying the relative position of the lean vehicle 1 with respect to the objects around the lean vehicle 1 based on the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1) and a second process (specifically, a process of identifying the absolute position of the lean vehicle 1 based on the result of comparing the identification result of the relative position with the map) are executed.
• the reliability information may be first reliability information that is information about the reliability of the first process, or may be second reliability information that is information about the reliability of the second process.
• the acquisition unit 19a may acquire information on the reliability of the detection result of the surrounding environment sensor 14 as the first reliability information, for example.
• Such information may include, for example, running state information of the lean vehicle 1.
• the running state information is information on the running state of the lean vehicle 1, and may include, for example, the lean angle, lean angle change rate, pitch angle, pitch angle change rate, yaw angle, yaw angle change rate, steering angle, steering angle change rate, speed, acceleration, wheel slip rate, lateral acceleration, etc. of the lean vehicle 1.
• the acquisition unit 19a may acquire these pieces of information themselves as the first reliability information, or may acquire a numerical value or the like indicating the reliability itself generated from these pieces of information as the first reliability information.
• the posture of the lean vehicle 1 is more likely to change than that of a four-wheeled automobile.
• the reliability of the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1 is reduced due to the posture of the lean vehicle 1 being different from the reference posture (for example, the posture in which the lean vehicle 1 is upright).
• the acquisition unit 19a may acquire information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low as the first reliability information.
• the acquisition unit 19a may acquire information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low as the first reliability information. For example, when the wheels of the lean vehicle 1 are slipping, the acquisition unit 19 a may acquire information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low as the first reliability information.
• the acquisition unit 19a may acquire the first reliability information based on map information.
• the map information is stored in the storage unit 2c of the server 2, for example, and is transmitted from the server 2.
• the acquisition unit 19a may acquire information indicating that the reliability of the detection result of the surrounding environment sensor 14 is low as the first reliability information.
• the acquisition unit 19a may acquire, for example, information on the reliability of the result of identifying the absolute position of the lean vehicle 1 as the second reliability information. Examples of such information include information on the communication status between the lean vehicle 1 and the server 2, information on the accuracy of identifying the approximate current position of the lean vehicle 1 by the navigation device 18, and information on the generation status of a map in a range including the current position of the lean vehicle 1.
• the acquisition unit 19a may acquire these pieces of information themselves as the second reliability information, or may acquire a numerical value indicating the reliability itself generated from these pieces of information as the second reliability information.
• the acquisition unit 19a may acquire information indicating that the reliability of the identification result of the absolute position of the lean vehicle 1 is low as the second reliability information.
• the acquisition unit 19a may acquire information indicating that the reliability of the identification result of the absolute position of the lean vehicle 1 is low as the second reliability information.
• the acquisition unit 19a may acquire information indicating that the reliability of the identification result of the absolute position of the lean vehicle 1 is low as the second reliability information.
• the acquisition unit 19a may acquire information other than the examples listed above as reliability information. Also, the acquisition unit 19a may acquire multiple types of information as reliability information. For example, the acquisition unit 19a may acquire multiple types of information arbitrarily selected from the examples listed above as the first reliability information. Also, for example, the acquisition unit 19a may acquire multiple types of information arbitrarily selected from the examples listed above as the second reliability information. Also, for example, the acquisition unit 19a may acquire both the first reliability information and the second reliability information as reliability information.
• step S103 the execution unit 19c executes, as a rider assistance operation, an operation of notifying the rider of the lean vehicle 1 of the reliability information acquired in step S102, and then returns to step S102.
• step S!03 the execution unit 19C notifies, as reliability information, information indicating whether the reliability of the position identification process is higher than a standard.
• the standard is set so that it can be determined whether the reliability of the position identification process is high enough to allow a specific operation, which is an operation performed based on the absolute position identification result, to be performed properly without any problems.
• the execution unit 19c may also notify, as reliability information, information that expresses the reliability of the position identification process numerically in 100 steps or the like.
• the execution unit 19 c executes the above notification using the display device 13.
• the execution unit 19 c may display the degree of reliability of the position identification process by using characters, may display using figures, or may display by changing colors.
• the execution unit 19c executes the notification to the rider, for example, using the display device 13.
• the notification to the rider is not limited to this example.
• the execution unit 19c may execute the notification to the rider using a display device provided on the rider's wear (for example, a helmet).
• the execution unit 19c may execute the notification to the rider using a sound output device provided on the lean vehicle 1 or the rider's wear.
• the execution unit 19c may execute the notification to the rider using a vibration generating device provided on the lean vehicle 1 or the rider's wear.
• the execution unit 19c may execute the notification to the rider by causing the lean vehicle 1 to instantaneously accelerate or decelerate.
• instantaneous acceleration/deceleration may be performed using a drive source of the lean vehicle 1 (e.g., the engine 11), a control unit for the braking force generated at the wheels (e.g., a hydraulic control unit 12), or the transmission mechanism of the lean vehicle 1.
• the execution unit 19c executes an operation of informing the rider of the lean vehicle 1 of the reliability information as a rider assistance operation. This allows the rider of the lean vehicle 1 to drive the lean vehicle 1 after understanding the reliability of the position identification process. Therefore, assistance for the rider's driving is appropriately realized. For example, the rider can drive the lean vehicle 1 after understanding whether the above-mentioned specific operation using the position identification process is appropriately executed.
• the execution unit 19c of the control device 19 executes a specific operation, which is an operation executed based on the result of identifying the absolute position.
• a specific operation which is an operation executed based on the result of identifying the absolute position.
• an operation related to the specific operation is executed as a rider assistance operation executed based on reliability information.
• Fig. 7 is a flowchart showing a second example of a flow of the control process performed by the control device 19. Step S201 in Fig. 7 corresponds to the start of the control flow shown in Fig. 7.
• step S102 onwards is different from the first example of FIG. 6 described above.
• step S202 the execution unit 19c determines whether the reliability of the position identification process is higher than a reference value based on the reliability information.
• step S203 If it is determined that the reliability of the position identification process is higher than the standard (step S202/YES), proceed to step S203. Then, in step S203, the execution unit 19c permits and enables the specific operation (i.e., makes the specific operation executable). On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202/NO), proceed to step S204. Then, in step S204, the execution unit 19c prohibits and disables the specific operation (i.e., makes the specific operation unexecutable). After step S203 or step S204, return to step S102.
• the specific operation is an operation executed based on the result of identifying the absolute position, and may be, for example, an operation to control the behavior of the lean vehicle 1 (for example, adaptive cruise control) or an operation to warn the rider of the lean vehicle 1 (for example, forward collision warning).
• the execution unit 19c for example, prohibits these specific operations.
• the execution unit 19c may prohibit only a specific operation performed under some circumstances.
• the execution unit 19c may prohibit only a specific operation such as adaptive cruise control performed under a situation in which the lean vehicle 1 described with reference to Fig. 4 is passing through.
• the execution unit 19c may prohibit only a specific operation such as adaptive cruise control performed under a situation in which the group traveling described with reference to Fig. 5 is performed.
• the execution unit 19c executes a specific operation, which is an operation performed based on the result of identifying the absolute position, as a rider assistance operation, and executes the specific operation based on the reliability information.
• the execution unit 19c switches between enabling and disabling the specific operation based on the reliability information. This allows the specific operation to be enabled and disabled depending on the reliability of the position identification process. Therefore, the driving assistance of the rider is appropriately realized. For example, in a situation where the reliability of the position identification process is low and it may be difficult to appropriately execute a specific operation using the position identification process, the specific operation can be prohibited and disabled.
• Fig. 8 is a flowchart showing a third example of a process performed by the control device 19. Step S301 in Fig. 8 corresponds to the start of the control flow shown in Fig. 8.
• step S202 onwards is different from the second example of Figure 7 described above.
• step S202 the execution unit 19c determines whether the reliability of the position identification process is higher than a reference level based on the reliability information.
• step S302 If it is determined that the reliability of the position identification process is higher than the standard (step S202/YES), proceed to step S302. Then, in step S302, the execution unit 19c releases the restriction on the function of the specific operation. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202/NO), proceed to step S303. Then, in step S303, the execution unit 19c restricts part of the function of the specific operation. After step S302 or step S303, return to step S102.
• the specific operation is an operation executed based on the result of identifying the absolute position, and may be, for example, an operation to control the behavior of the lean vehicle 1 (for example, adaptive cruise control) or an operation to warn the rider of the lean vehicle 1 (for example, forward collision warning).
• the execution unit 19c restricts some of the functions of these specific operations.
• the execution unit 19c may limit a function of changing the detection range of the surrounding environment sensor 14 based on the absolute position of the lean vehicle 1 in the adaptive cruise control.
• the above function is not executed, but the adaptive cruise control is executable.
• the execution unit 19c may limit the function of changing the detection range of the surrounding environment sensor 14 based on the absolute position of the lean vehicle 1 in the forward collision warning. In that case, the above function is not executed, but the forward collision warning is executable.
• the execution unit 19c may limit some of the functions only for a specific operation executed under some circumstances. For example, the execution unit 19c may limit some of the functions only for a specific operation such as adaptive cruise control executed under a situation in which the lean vehicle 1 is passing through an obstacle as described with reference to Fig. 4. Also, for example, the execution unit 19c may limit some of the functions only for a specific operation such as adaptive cruise control executed under a situation in which the group driving is performed as described with reference to Fig. 5.
• the execution unit 19c executes a specific operation, which is an operation performed based on the result of identifying the absolute position, as a rider assistance operation, and executes the specific operation based on the reliability information.
• the execution unit 19c changes the mode of the specific operation based on the reliability information. This makes it possible to change the mode of the specific operation according to the reliability of the position identification process. Therefore, it is possible to appropriately realize the assistance of the rider's driving. For example, in a situation where the reliability of the position identification process is low and it may be difficult to appropriately execute a function that uses the position identification process among the functions of the specific operation, the function can be restricted.
• Fig. 9 is a flowchart showing a fourth example of a process performed by the control device 19. Step S401 in Fig. 9 corresponds to the start of the control flow shown in Fig. 9.
• the processes from step S202 onwards are different from those in the second example of Fig. 7 described above.
• the fourth example of Fig. 9 is performed in parallel with the second example of Fig. 7 described above. In other words, the fourth example of Fig. 9 is performed under a situation where a specific operation is prohibited when the reliability of the position identification process is lower than a standard.
• step S202 the execution unit 19c determines whether the reliability of the position identification process is higher than a reference level based on the reliability information.
• step S202/YES If it is determined that the reliability of the position identification process is higher than the standard (step S202/YES), the process returns to step S102. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202/NO), the process proceeds to step S402. Then, in step S402, the execution unit 19c notifies the rider that the specific action is prohibited, and the process returns to step S102.
• the execution unit 19c executes, as a rider assistance operation, an operation of informing the rider of information on a specific operation, which is an operation performed based on the result of identifying the absolute position, and executes the operation based on the reliability information.
• the execution unit 19c switches between enabling and disabling the operation of informing the rider of information on the specific operation based on the reliability information. This makes it possible to switch between enabling and disabling the operation of informing the rider of information on the specific operation according to the reliability of the position identification process. Therefore, the driving assistance of the rider is appropriately realized. For example, the rider can understand that the reliability of the position identification process is low and that the specific operation using the position identification process is prohibited.
• the execution unit 19c switches between enabling and disabling the operation of notifying the rider of information about the specific operation based on the reliability information in a situation in which the specific operation is performed based on reliability (specifically, in a situation in which the specific operation is prohibited when the reliability of the position identification process is lower than a standard).
• the execution unit 19c may switch between enabling and disabling the operation of notifying the rider of information about the specific operation based on the reliability information.
• the execution unit 19c may notify the rider of an instruction to stop the specific operation in a situation in which the specific operation is not prohibited.
• the execution unit 19c may not perform such a notification.
• Fig. 10 is a flowchart showing a fifth example of a process performed by the control device 19. Step S501 in Fig. 10 corresponds to the start of the control flow shown in Fig. 10.
• the process from step S202 onwards is different from the second example of Fig. 7 described above.
• the fifth example of Fig. 10 is performed in parallel with the third example of Fig. 8 described above.
• the fifth example of Fig. 10 is performed under a situation in which some functions of a specific operation are restricted when the reliability of the position identification process is lower than a standard.
• step S202 the execution unit 19c determines whether the reliability of the position identification process is higher than a reference level based on the reliability information. [0106] If it is determined that the reliability of the position identification process is higher than the standard (step S202/YES), the process proceeds to step S502. Then, in step S502, the execution unit 19c notifies the rider that the restriction on the specific operation function has been lifted. On the other hand, if it is determined that the reliability of the position identification process is lower than the standard (step S202/NO), the process proceeds to step S503. Then, in step S503, the execution unit 19c notifies the rider that some of the functions of the specific operation have been restricted. After step S502 or step S503, the process returns to step S102.
• the execution unit 19c executes, as a rider assistance operation, an operation of informing the rider of information on a specific operation, which is an operation executed based on the result of identifying the absolute position, and executes the operation based on the reliability information.
• the execution unit 19c changes the manner of the operation of informing the rider of information on the specific operation based on the reliability information. This makes it possible to change the manner of the operation of informing the rider of information on the specific operation according to the reliability of the position identification process. Therefore, it is possible to appropriately realize the assistance of the rider in driving. For example, the rider can understand that the reliability of the position identification process is low and some functions of the specific operation using the position identification process are limited.
• the execution unit 19c changes the manner of the operation of notifying the rider of the information on the specific operation based on the reliability information in a situation in which the specific operation is executed based on reliability (specifically, in a situation in which a part of the function of the specific operation is restricted when the reliability of the position identification process is lower than a standard).
• the execution unit 19c may change the manner of the operation of notifying the rider of the information on the specific operation based on the reliability information.
• the execution unit 19c may notify the rider of an instruction to stop a part of the function of the specific operation in a situation in which a part of the function of the specific operation is not restricted.
• the execution unit 19c may notify the rider that it is not necessary to stop a part of the function of the specific operation.
• a process for executing an operation of notifying the rider of the lean vehicle 1 of reliability information as a rider assistance operation (above, the first example of FIG. 6), a process for switching between enabling and disabling a specific operation based on reliability information (above, the second example of FIG. 7), a process for changing the state of a specific operation based on reliability information (above, the third example of FIG. 8), a process for switching between enabling and disabling an operation for notifying a rider of information related to a specific operation based on reliability information (above, the fourth example of FIG.
• the execution unit 19c may execute both a process of switching between enabling and disabling the specific operation based on the reliability information (the second example in FIG. 7 above) and a process of changing the state of the specific operation based on the reliability information (the third example in FIG. 8 above).
• the execution unit 19c may permit and enable the specific operation, and may not restrict the function of the specific operation.
• the execution unit 19c permits and enables the specific operation, but A part of the function of the specific operation may be restricted.
• the execution unit 19 c may prohibit and disable the specific operation.
• the execution unit 19 c may execute both a process of executing a specific action based on the reliability information (in the above, the second example in FIG. 7 or the third example in FIG. 8) and a process of executing an action of notifying the rider of information related to the specific action based on the reliability information (in the above, the fourth example in FIG. 9 or the fifth example in FIG. 10), or may execute only one of them. Further, for example, the execution unit 19 c may execute a process of executing an operation of notifying the rider of the lean vehicle 1 of the reliability information as a rider assistance operation (the first example in FIG.
• the past detection results of the surrounding environment sensor 14 are associated with map data in the map used in the second process.
• the information contained in the map used in the second process is not limited to the above example.
• the map used in the second process may be compared with the result of identifying the relative position in the first process, and may contain information that can identify the absolute position of the lean vehicle 1.
• the control device 19 includes a first process for determining the relative position of the lean vehicle 1 with respect to objects around the lean vehicle 1 based on the detection result of the surrounding environment sensor 14 mounted on the lean vehicle 1, and a second process for determining the absolute position of the lean vehicle 1 based on the result of comparing the relative position determination with the map.
• the control device 19 includes an identification unit 19b that performs at least the first process in the position determination process, and an execution unit 19c that executes a rider assistance operation to assist the rider in driving.
• the control device 19 includes an acquisition unit 19a that acquires reliability information that is information on the reliability of the position determination process.
• the execution unit 19c then executes the rider assistance operation based on the reliability information. This makes it possible to assist the rider in driving the lean vehicle 1 according to the reliability of the position determination process. Therefore, it is possible to appropriately assist the rider in driving the lean vehicle 1.
• the identification unit 19 b executes both the first process and the second process. However, the identification unit 19 b only needs to execute at least the first process among the first process and the second process.
• the identification unit 19b executes the second process in addition to the first process. In this way, when the control device 19 executes both the first process and the second process, it is possible to appropriately assist the rider of the lean vehicle 1 in driving.
• the identification unit 19b wirelessly transmits the identification result of the relative position to an external system (the server 2 in the above example).
• the identification unit 19b executes only the first process among the first process and the second process
• the identification unit 19b wirelessly transmits the identification result of the relative position to the external system.
• the execution unit 19c executes an operation of notifying the rider of the reliability information as a rider assistance operation, so that the rider can grasp the validity of the identification result of the relative position acquired by the vehicle and transmitted to the external system. This makes it possible to appropriately assist the driving of such a rider.
• the rider assistance operation performed based on the reliability information is an operation of notifying the rider of the reliability information.
• the rider of the lean vehicle 1 can drive the lean vehicle 1 after understanding the reliability of the position identification process. Therefore, assistance for the rider's driving is appropriately realized.
• the rider can drive the lean vehicle 1 after understanding whether the above-mentioned specific operation using the position identification process is appropriately executed.
• the rider assistance operation executed based on the reliability information is an operation executed based on the result of identifying the absolute position (in the above example, a specific operation).
• the rider assistance action executed based on the reliability information is an action of notifying the rider of information on the action (specific action in the above example) executed based on the result of identifying the absolute position.
• This makes it possible to appropriately execute the action of notifying the rider of information on the action executed based on the result of identifying the absolute position according to the reliability of the position identification process. Therefore, the driving assistance of the rider is appropriately realized.
• the execution unit 19c switches between enabling and disabling the rider assistance operation (specifically, an operation executed based on the result of identifying the absolute position, or an operation of notifying the rider of information related to the operation executed based on the result of identifying the absolute position) based on the reliability information.
• enabling and disabling the rider assistance operation specifically, an operation executed based on the result of identifying the absolute position, or an operation of notifying the rider of information related to the operation executed based on the result of identifying the absolute position
• the execution unit 19c changes the manner of the rider assistance operation (specifically, the operation executed based on the result of identifying the absolute position, or the operation of notifying the rider of information related to the operation executed based on the result of identifying the absolute position) based on the reliability information.
• This makes it possible to change the manner of the operation executed based on the result of identifying the absolute position, or the manner of the operation of notifying the rider of information related to the operation executed based on the result of identifying the absolute position, depending on the reliability of the position identification process. Therefore, assistance to the rider in driving is appropriately achieved.
• the operation executed based on the result of identifying the absolute position is an operation to control the behavior of the lean vehicle 1.
• the operation to control the behavior of the lean vehicle 1 is performed using the position identification process, it is possible to appropriately support the driving by the rider.
• the operation executed based on the result of identifying the absolute position is an operation of issuing a warning to the rider.
• the operation of issuing a warning to the rider is executed using the position identification process, it is possible to appropriately support the rider in driving.
• the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which the lean-to vehicle 1 is passing through obstacles.
• the operation executed in the situation in which the lean-to vehicle 1 is passing through obstacles is a position identification process.
• the vehicle can appropriately assist the rider in driving.
• the operation executed based on the result of identifying the absolute position is an operation specialized for a situation in which a group consisting of a plurality of lean vehicles including the lean vehicle 1 is traveling in a convoy.
• the operation executed in a situation in which a group is traveling is performed using the position identification process, it is possible to appropriately support the driving by the rider.
• the reliability information includes first reliability information that is information about the reliability of the first process.
• first reliability information that is information about the reliability of the first process.
• the reliability information includes second reliability information that is information about the reliability of the second process.
• second reliability information is information about the reliability of the second process.
• the present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.
• 1 lean vehicle 2 server, 2a acquisition unit, 2b generation unit, 2c storage unit, 3 other vehicle, 3a other vehicle, 3b other vehicle, 4 other vehicle, 4a other vehicle, 4b other vehicle, 4c other vehicle, 4d other vehicle, 10 rider assistance system, 11 engine, 12 hydraulic control unit, 13 display device, 14 surrounding environment sensor, 15 inertial measurement unit, 16 front wheel speed sensor, 17 rear wheel speed sensor, 18 navigation device, 19 control device, 19a acquisition unit, 19b identification unit, 19c execution unit.

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  • 2024-07-31 JP JP2025542438A patent/JPWO2025046348A1/ja active Pending
  • 2024-07-31 CN CN202480055116.7A patent/CN121752488A/zh active Pending
  • 2024-07-31 WO PCT/IB2024/057419 patent/WO2025046348A1/ja active Pending

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