JP7636171B2 - Control device and control method - Google Patents

Description

This disclosure relates to a control device and control method that can improve the safety of saddle-type vehicles.

Conventional technology related to saddle-type vehicles such as motorcycles includes technology to assist the rider in driving in order to improve safety.

For example, Patent Document 1 discloses a driver assistance system that warns a motorcycle driver that he or she is inappropriately approaching an obstacle based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel.

JP 2009-116882 A

However, the posture of a saddle-type vehicle is more likely to be unstable than, for example, the posture of a four-wheeled automobile. Therefore, when a driving assistance operation that assists the rider in driving is performed (for example, a warning operation for the rider, or an operation that automatically controls acceleration/deceleration, etc.), safety may be compromised depending on the state of the saddle-type vehicle (for example, the rider's posture).

The present invention was made against the background of the above-mentioned problems, and aims to provide a control device and control method that can improve the safety of saddle-type vehicles.

The control device according to the present invention is a control device for a rider assistance system that assists a rider in driving a saddle-ride type vehicle, and includes an acquisition unit that acquires on-vehicle status information, which is status information of an imaged object riding on the saddle-ride type vehicle, based on the output results of a rear camera that is located behind the riding position of the rider of the saddle-ride type vehicle and faces forward, and an execution unit that executes a driving assistance operation for the rider by the rider assistance system based on the on-vehicle status information.

The control method according to the present invention is a control method for a rider assistance system that assists a rider in driving a saddle-ride type vehicle, in which an acquisition unit of a control device acquires on-vehicle status information, which is status information of an imaged object riding on the saddle-ride type vehicle, based on the output results of a rear camera that is provided behind the riding position of the rider of the saddle-ride type vehicle and faces forward, and an execution unit of the control device executes a driving assistance operation for the rider by the rider assistance system based on the on-vehicle status information.

In the control device and control method according to the present invention, the acquisition unit of the control device acquires on-vehicle status information, which is status information of an imaged object riding on the saddle-ride type vehicle, based on the output results of a rear camera that is located behind the riding position of the rider of the saddle-ride type vehicle and faces forward, and the execution unit of the control device executes a driving assistance operation for the rider by the rider assistance system based on the on-vehicle status information. This makes it possible to appropriately perform driving assistance operations according to the status on the saddle-ride type vehicle. Therefore, the safety of the saddle-ride type vehicle can be improved.

1 is a schematic side view showing a schematic configuration of a saddle-ride type vehicle according to an embodiment of the present invention. 1 is a schematic top view showing a schematic configuration of a saddle-ride type vehicle according to an embodiment of the present invention; FIG. 2 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention. 5 is a flowchart showing an example of a processing flow related to a warning operation to a rider performed by a control device according to an embodiment of the

The control device according to the present invention is described below with reference to the drawings.

Note that, although the following describes a control device used for a two-wheeled motorcycle (see saddle-ride vehicle 1 in FIG. 1), the vehicle controlled by the control device of the present invention may be any saddle-ride vehicle on which a rider straddles, such as a three-wheeled motorcycle, bicycle, or buggy. Motorcycles include vehicles that use an engine as a propulsion source and vehicles that use an electric motor as a propulsion source, such as motorcycles, scooters, and electric scooters. Bicycles refer to any vehicle that can be propelled down the road by the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.

In addition, the following describes a case where an engine (specifically, engine 11 in FIG. 1 described below) is installed as a drive source capable of outputting power to drive the wheels, but a drive source other than an engine (e.g., an electric motor) may also be installed as the drive source, and multiple drive sources may also be installed.

Furthermore, the configurations and operations described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

Furthermore, in the following, descriptions of identical or similar parts are appropriately simplified or omitted. Furthermore, in each drawing, reference numbers are omitted for identical or similar parts or components or parts, or the same reference numbers are used. Furthermore, illustrations of detailed structures are appropriately simplified or omitted.

<Structure of saddle-type vehicle>
The configuration of a saddle-ride type vehicle 1 according to an embodiment of the present invention will be described with reference to FIGS.

Figure 1 is a schematic side view showing the general configuration of the saddle-ride type vehicle 1. Figure 2 is a schematic top view showing the general configuration of the saddle-ride type vehicle 1. Figure 3 is a block diagram showing an example of the functional configuration of the control device 20.

The saddle-ride type vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a saddle-ride type vehicle according to the present invention. As shown in Figs. 1 and 2, the saddle-ride type vehicle 1 includes an engine 11, a hydraulic control unit 12, an alarm device 13, a front camera 14, a rear camera 15, an ambient environment sensor 16, a front wheel speed sensor 17, a rear wheel speed sensor 18, and a control device (ECU) 20.

The saddle-type vehicle 1 is equipped with a rider assistance system 10 that assists the rider 2 in driving the saddle-type vehicle 1. The rider assistance system 10 includes the above-mentioned components (i.e., the engine 11, the hydraulic control unit 12, the alarm device 13, the front camera 14, the rear camera 15, the surrounding environment sensor 16, the front wheel speed sensor 17, the rear wheel speed sensor 18, and the control device 20).

The engine 11 corresponds to an example of a drive source of the saddle-ride type vehicle 1, and is capable of outputting power for driving the wheels. For example, 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. 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. This causes pistons provided in the cylinders to reciprocate, causing the crankshaft to rotate. In addition, a throttle valve is provided in the intake pipe of the engine 11, and the amount of intake air into the combustion chamber changes depending on 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. For example, the hydraulic control unit 12 is provided on an oil passage that connects the master cylinder and the wheel cylinders, and includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure in the wheel cylinders. The braking force acting on the wheels is controlled by controlling the operation of the components of the hydraulic control unit 12. 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 notification device 13 issues notifications to the rider. The notification device 13 has a sound output function and a display function. The sound output function is a function for outputting sound, and is realized, for example, by a speaker. The display function is a function for visually displaying information, and is realized, for example, by a liquid crystal display or a lamp.

The front camera 14 is located forward of the riding position (specifically, the assumed riding position) of the rider 2 of the saddle-ride type vehicle 1 and faces rearward. The front camera 14 captures an image of the subject (e.g., the rider 2) riding on the saddle-ride type vehicle 1 from the front. Specifically, the front camera 14 is located at the front of the body of the saddle-ride type vehicle 1 in a position facing rearward. During driving, as shown in Figures 1 and 2, the field of view FV14 of the front camera 14 faces rearward from the front camera 14. The front camera 14 captures an image that reflects such a field of view FV14 during driving.

The rear camera 15 is located behind the riding position (specifically, the assumed riding position) of the rider 2 of the saddle-ride type vehicle 1 and faces forward. The rear camera 15 captures an image of the subject (e.g., the rider 2) riding on the saddle-ride type vehicle 1 from behind. Specifically, the rear camera 15 is located at the rear of the body of the saddle-ride type vehicle 1 in a position facing forward. During driving, as shown in Figures 1 and 2, the field of view FV15 of the rear camera 15 faces forward from the rear camera 15. The rear camera 15 captures an image that reflects such a field of view FV15 during driving.

Each of the front camera 14 and rear camera 15 includes an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and an image processing device such as an ISP (Image Signal Processor).

The surrounding environment sensor 16 detects surrounding environment information related to the environment around (for example, in front of) the saddle-ride type vehicle 1. The surrounding environment sensor 16 in FIG. 1 is provided at the front of the body of the saddle-ride type vehicle 1 and detects surrounding environment information in front of the saddle-ride type vehicle 1. The surrounding environment sensor 16 is for acquiring information regarding the relationship between the position of a target present around the saddle-ride type vehicle 1 and the position of the saddle-ride type vehicle 1 (for example, the relative distance, direction, speed, acceleration, or jerk of the saddle-ride type vehicle 1 with respect to the target, etc.) as surrounding environment information. The surrounding environment information may also be, for example, status information of a target present around the saddle-ride type vehicle 1. Note that the above targets may include, in addition to vehicles, various obstacles other than vehicles (for example, road equipment, fallen objects, people, animals, etc.).

As the surrounding environment sensor 16, for example, a camera that captures images of the surroundings of the saddle-ride vehicle 1 and a radar that can detect the distance from the saddle-ride vehicle 1 to a surrounding target are used. For example, a preceding vehicle is detected using an image captured by the camera, and the detection result of the preceding vehicle and the detection result of the radar are used to detect the inter-vehicle distance between the saddle-ride vehicle 1 and the preceding vehicle, and the relative speed of the saddle-ride vehicle 1 with respect to the preceding vehicle. Note that the configuration of the surrounding environment sensor 16 is not limited to the above example. For example, in the surrounding environment sensor 16, the radar may be replaced with a LIDAR (Laser Imaging Detection and Ranging) or an ultrasonic sensor. Also, for example, the surrounding environment sensor 16 may be a stereo camera.

The front wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the front wheels (for example, the number of rotations per unit time [rpm] of the front wheels or the distance traveled per unit time [km/h], etc.) and outputs the detection result. The front wheel speed sensor 17 may also detect other physical quantities that can be substantially converted into the wheel speed of the front wheels. The front wheel speed sensor 17 is provided on the front wheels.

The rear wheel speed sensor 18 is a wheel speed sensor that detects the wheel speed of the rear wheels (for example, the number of rotations per unit time [rpm] of the rear wheels or the distance traveled per unit time [km/h], etc.) and outputs the detection result. The rear wheel speed sensor 18 may also detect other physical quantities that can be substantially converted into the wheel speed of the rear wheels. The rear wheel speed sensor 18 is provided on the rear wheels.

The control device 20 controls the rider assistance system 10. For example, part or all of the control device 20 is composed of a microcomputer, a microprocessor unit, or the like. Also, for example, part or all of the control device 20 may be composed of an updatable component such as firmware, or may be a program module executed by commands from a CPU or the like. The control device 20 may be, for example, a single unit, or may be divided into multiple units.

As shown in FIG. 3, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. The control device 20 also communicates with each device of the rider assistance system 10.

The acquisition unit 21 acquires information from each device of the rider assistance system 10 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the front camera 14, the rear camera 15, the surrounding environment sensor 16, the front wheel speed sensor 17, and the rear wheel speed sensor 18. Here, the acquisition unit 21 can acquire secondary information based on the information acquired from the devices of the rider assistance system 10. In particular, the acquisition unit 21 acquires on-vehicle status information based on the output result of the rear camera 15. The on-vehicle status information is status information of the object to be imaged (e.g., the rider 2) riding on the saddle-type vehicle 1. Details of the on-vehicle status information will be described later. In this specification, acquisition of information can include extraction or generation of information.

The execution unit 22 executes driving assistance operations for the rider 2 by the rider assistance system 10. Driving assistance operations are operations that assist the rider 2 in driving, and may include various operations. For example, driving assistance operations may include operations such as warning operations for the rider 2, slip control operations, hill hold operations, or operations that use surrounding environment information (e.g., adaptive cruise control, etc.). Details of these operations will be described later. In the driving assistance operations, the execution unit 22 appropriately controls the operations of the engine 11, hydraulic control unit 12, and notification device 13.

As described above, in the control device 20, the execution unit 22 executes the driving assistance operation for the rider 2 by the rider assistance system 10. Here, the execution unit 22 executes the driving assistance operation based on the on-vehicle status information acquired based on the output result of the rear camera 15. This improves the safety of the saddle-ride type vehicle 1. The processing related to the driving assistance operation performed by the control device 20 will be described in detail later.

<Operation of the control device>
The operation of the control device 20 according to the embodiment of the present invention will be described with reference to FIG.

As described above, in this embodiment, the execution unit 22 of the control device 20 executes a driving assistance operation based on the on-vehicle status information acquired based on the output results of the rear camera 15. Below, an example will be described in which the execution unit 22 executes a warning operation to the rider 2 as a driving assistance operation. However, as described above, the driving assistance operation may be an operation other than a warning operation to the rider 2.

Figure 4 is a flowchart showing an example of the process flow for the warning operation to the rider 2 performed by the control device 20. The control flow shown in Figure 4 is executed repeatedly, for example, at preset time intervals. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4. Step S107 in Figure 4 corresponds to the end of the control flow shown in Figure 4.

When the control flow shown in FIG. 4 is started, in step S102, the execution unit 22 determines whether or not the rider 2 is on the vehicle. If it is determined that the rider 2 is on the vehicle (step S102/YES), the process proceeds to step S103, where on-vehicle status information is acquired. On the other hand, if it is determined that the rider 2 is not on the vehicle (step S102/NO), the control flow shown in FIG. 4 ends.

In step S102, for example, the execution unit 22 determines whether or not the rider 2 is riding based on the output results of the front camera 14 or the output results of the rear camera 15.

If the determination in step S102 is YES, in step S103, the acquisition unit 21 acquires on-vehicle state information based on the output result of the rear camera 15. Next, in step S104, the execution unit 22 evaluates the risk of traveling the saddle type vehicle 1 based on the on-vehicle state information.

In the control flow shown in FIG. 4, as described below, the execution unit 22 executes a warning operation according to the degree of danger evaluated in step S104. In other words, the execution unit 22 executes a warning operation based on the on-board status information acquired in step S103.

An example of the on-vehicle state information is posture information of the rider 2. The posture information is information indicating the posture of the rider 2 riding on the saddle-ride vehicle 1. Specifically, the posture information may include information indicating the position of the body parts of the rider 2 relative to the saddle-ride vehicle 1. The posture information may also include information indicating the orientation of the body parts of the rider 2 relative to the saddle-ride vehicle 1. Below, an example of the posture information acquired as the on-vehicle state information in step S103, and an example of the risk assessment based on the posture information in step S104 will be described.

For example, the acquisition unit 21 acquires information indicating the direction of the rider 2's head relative to the traveling direction of the saddle-ride type vehicle 1 (specifically, the direction of the front of the head) as posture information. The execution unit 22 can determine whether the rider 2 is looking away from the road based on the direction of the rider 2's head. For example, when the rider 2's head is facing in a direction that is far away from the traveling direction of the saddle-ride type vehicle 1, it is assumed that the rider 2 is looking away from the road, and therefore the execution unit 22 increases the risk assessment value compared to when the rider 2's head is facing in a direction closer to the traveling direction of the saddle-ride type vehicle 1.

For example, the acquisition unit 21 acquires information indicating the vertical position of the rider 2's buttocks relative to the seat of the saddle-ride type vehicle 1 as posture information. The execution unit 22 can determine whether the rider 2 is sitting or standing based on the vertical position of the rider 2's buttocks. For example, when the vertical position of the rider 2's buttocks approximately matches the vertical position of the seat of the saddle-ride type vehicle 1, it can be determined that the rider 2 is sitting. On the other hand, when the vertical position of the rider 2's buttocks is higher than the seat of the saddle-ride type vehicle 1, it can be determined that the rider 2 is standing, and it is assumed that the posture of the rider 2 is unstable and prone to change due to external forces. Therefore, when the vertical position of the rider 2's buttocks is higher than the seat of the saddle-ride type vehicle 1, the execution unit 22 increases the risk assessment value compared to when the vertical position of the rider 2's buttocks approximately matches the vertical position of the seat of the saddle-ride type vehicle 1.

For example, the acquisition unit 21 acquires information indicating the position of the rider 2's hands relative to the handlebars of the saddle-ride vehicle 1 as posture information. The execution unit 22 can determine whether the rider 2 is gripping the handlebars based on the position of the rider 2's hands. For example, if the rider 2's hands are not separated from the handlebars of the saddle-ride vehicle 1, it can be determined that the rider 2 is gripping the handlebars. On the other hand, if the rider 2's hands are separated from the handlebars of the saddle-ride vehicle 1, it can be determined that the rider 2 is not gripping the handlebars, and it is assumed that the rider 2's posture is unstable and prone to change due to external forces. Therefore, when the rider 2's hands are separated from the handlebars of the saddle-ride vehicle 1, the execution unit 22 increases the risk assessment value compared to when the rider 2's hands are not separated from the handlebars of the saddle-ride vehicle 1.

In addition, when the position of the rider 2's hands is away from the position of the handlebars of the saddle-ride type vehicle 1, the execution unit 22 may decrease the risk level as the rider 2's hands get closer to the handlebars of the saddle-ride type vehicle 1.

For example, the acquisition unit 21 acquires information indicating the left and right positions of the rider 2's buttocks relative to the saddle-ride vehicle 1 as posture information. The execution unit 22 can determine the stability of the rider 2's posture based on, for example, the relationship between the left and right positions of the rider 2's buttocks and the turning direction of the saddle-ride vehicle 1 (for example, whether the left and right directions of the rider 2's buttocks relative to the saddle-ride vehicle 1 and the turning direction of the saddle-ride vehicle 1 match), and evaluate the risk level according to the determination result. Preferably, the execution unit 22 determines the stability of the rider 2's posture based on posture information indicating the rider 2's back posture (i.e., the position and direction of the back), head direction, or arm opening (i.e., the posture including the position and direction of the arms) in addition to the relationship between the left and right positions of the rider 2's buttocks and the turning direction of the saddle-ride vehicle 1. In other words, it is preferable that the execution unit 22 determines the stability of the rider 2's posture based on the overall posture of the rider 2 when viewed from behind.

The turning direction of the saddle-ride type vehicle 1 may be obtained, for example, based on the output result of the surrounding environment sensor 16, or may be obtained from a navigation device. The execution unit 22 may also determine the stability of the rider 2's posture based on the relationship between posture information other than the left and right positions of the rider 2's buttocks (for example, information indicating the position and orientation of the rider 2's back relative to the saddle-ride type vehicle 1) and the turning direction of the saddle-ride type vehicle 1.

The on-vehicle condition information may also include information about accessories worn by the rider 2. The accessory information is information about accessories worn by the rider 2 riding on the saddle-ride type vehicle 1. For example, the acquisition unit 21 acquires information indicating whether the rider 2 is wearing a helmet as accessory information. When the rider 2 is not wearing a helmet, the execution unit 22 increases the risk assessment value compared to when the rider 2 is wearing a helmet.

The on-vehicle condition information may also include skin exposure information of the rider 2. The skin exposure information is information indicating whether the skin of the rider 2 riding on the saddle-ride type vehicle 1 is exposed. For example, if the rider 2 is wearing short-sleeved clothing and the rider 2's arms are exposed, the acquisition unit 21 acquires information indicating that the rider 2's skin is exposed as skin exposure information. In this case, the execution unit 22 increases the risk assessment value compared to when the rider 2's skin is not exposed.

The on-vehicle state information may also include information on the number of passengers in the saddle-ride type vehicle 1. The information on the number of passengers is information indicating the number of passengers riding in the saddle-ride type vehicle 1. For example, when only the rider 2 is riding in the saddle-ride type vehicle 1, the acquisition unit 21 acquires information indicating that the number of passengers is one as the information on the number of passengers. On the other hand, when in addition to the rider 2, a passenger other than the rider 2 is riding in the saddle-ride type vehicle 1, the acquisition unit 21 acquires information indicating that the number of passengers is two as the information on the number of passengers. When there are two passengers, it is expected that the posture of the saddle-ride type vehicle 1 is more likely to become unstable than when there is one passenger. Therefore, when there are two passengers, the execution unit 22 increases the evaluation value of the risk level compared to when there is one passenger.

The on-board status information may also include luggage information of the saddle-ride type vehicle 1. The luggage information is information indicating luggage carried on the saddle-ride type vehicle 1. It is expected that the more luggage there is, the more likely the behavior of the saddle-ride type vehicle 1 will lag behind the driving operation. Therefore, the more luggage there is, the higher the risk assessment value is set by the execution unit 22.

The acquisition unit 21 may acquire on-vehicle status information based on the output results of the front camera 14, which is located forward of the riding position of the rider 2 and faces rearward, in addition to the output results of the rear camera 15. This allows the on-vehicle status information to be acquired based on more information than when the on-vehicle status information is acquired based only on the output results of the rear camera 15, making it possible to acquire the on-vehicle status information more appropriately.

Furthermore, by using the output results of the front camera 14, information other than the information exemplified above can also be acquired as on-vehicle state information. For example, the acquisition unit 21 acquires information indicating the direction of the eyes of the rider 2 relative to the traveling direction of the saddle-ride type vehicle 1 (i.e., the direction of the line of sight) as posture information. For example, when the eyes of the rider 2 are directed in a direction that is far away from the traveling direction of the saddle-ride type vehicle 1, it is assumed that the rider 2 is looking away while driving, and therefore the execution unit 22 increases the risk assessment value compared to when the eyes of the rider 2 are directed in a direction closer to the traveling direction of the saddle-ride type vehicle 1. Note that the information indicating the direction of the eyes of the rider 2 may be acquired based on the output results of a camera provided on a helmet worn on the head of the rider 2.

The acquisition unit 21 may acquire information indicating the degree to which the rider 2's eyes are open (i.e., the degree to which the eyelids are open) as the on-vehicle condition information. The information indicating the degree to which the rider 2's eyes are open may be acquired based on the output results of a camera provided on a helmet worn on the rider 2's head. It is assumed that the smaller the degree to which the rider 2's eyes are open, the less concentrated the rider 2 is on driving. Therefore, the smaller the degree to which the rider 2's eyes are open, the higher the risk assessment value is set by the execution unit 22.

Next, in step S105, the execution unit 22 determines whether the risk level is greater than the threshold value. If it is determined that the risk level is greater than the threshold value (step S105/YES), the process proceeds to step S106, where a warning operation is performed. On the other hand, if it is determined that the risk level is equal to or less than the threshold value (step S105/NO), the control flow shown in FIG. 4 ends.

The threshold value is set to a value that can appropriately determine whether the risk assessed in step S104 is high enough to require a warning operation to be performed on the rider 2. The threshold value may differ depending on the driving mode that can be switched in the saddle-type vehicle 1. The driving modes include, for example, an urban mode and a circuit mode, and the behavior characteristics of the saddle-type vehicle 1 during driving (for example, the damping characteristics of the suspension or the braking characteristics of the anti-lock brake operation) differ between the driving modes.

If the determination in step S105 is YES, in step S106, the execution unit 22 executes a warning operation to the rider 2, and the control flow shown in FIG. 4 ends. For example, the control flow shown in FIG. 4 ends after the warning operation to the rider 2 continues for a set time. Also, for example, the control flow shown in FIG. 4 ends when the rider 2 performs an input operation to stop the warning operation to the rider 2.

The warning operation for the rider 2 is an operation that causes various devices to issue a warning to the rider 2 to pay attention to driving. For example, in the warning operation for the rider 2, the execution unit 22 causes the notification device 13 to display a message that calls attention to driving. Also, for example, in the warning operation for the rider 2, the execution unit 22 causes the notification device 13 to output a sound that calls attention to driving.

Note that the warning operation for the rider 2 is not limited to the above example using the notification device 13.

For example, in a warning operation for the rider 2, the execution unit 22 may cause a display device (e.g., a transparent display positioned in the line of sight of the rider 2) provided on a helmet worn on the head of the rider 2 to display a message calling attention to driving. Also, for example, in a warning operation for the rider 2, the execution unit 22 may cause an audio output device provided on a helmet worn on the head of the rider 2 to output an audio message calling attention to driving.

For example, the execution unit 22 may cause a vibration generating device to generate vibrations that call the rider 2's attention while driving in a warning operation to the rider 2. The vibration generating device may be provided in the saddle-ride type vehicle 1 or may be attached to the rider 2.

For example, the execution unit 22 may alert the rider 2 by instantly decelerating the saddle-type vehicle 1 to call attention to the driver's attention. The instantaneous deceleration may be achieved by reducing the output of the engine 11, by generating a braking force by the hydraulic control unit 12, or by changing the gear ratio of the gear change mechanism of the saddle-type vehicle 1.

As described above, in the control flow shown in FIG. 4, the execution unit 22 executes a warning operation to the rider 2 based on the on-vehicle state information. Here, the on-vehicle state information is acquired based on the output result of the rear camera 15. Compared to the image captured by the front camera 14, the image captured by the rear camera 15 captures a wider range of the captured object (e.g., the rider 2) riding on the saddle-ride type vehicle 1. For example, the image captured by the rear camera 15 captures parts of the rider 2's body that are not captured in the image captured by the front camera 14 (e.g., the buttocks, etc.). Therefore, by acquiring the on-vehicle state information based on the output result of the rear camera 15, it is possible to acquire the on-vehicle state information more appropriately. Therefore, it is possible to appropriately perform a warning operation to the rider 2 according to the state on the saddle-ride type vehicle 1. Therefore, it is possible to improve the safety of the saddle-ride type vehicle 1.

In the above, an example has been described in which a warning operation to the rider 2 is executed based on on-vehicle status information. However, as described above, the execution unit 22 may execute an operation other than a warning operation to the rider 2 as a driving assistance operation.

The driving assistance operation may include, for example, a slip control operation. The slip control operation is an operation that controls the slip degree of the wheels to a slip degree target by increasing or decreasing the braking force or driving force of the saddle-type vehicle 1, and is, for example, an antilock brake operation or a traction control operation. The slip degree is an index that indicates the degree to which the wheels are slipping on the road surface. For example, a slip ratio obtained by dividing the difference between the vehicle speed and the wheel speed by the vehicle speed is used as the slip degree. The execution unit 22 calculates the slip ratio of each wheel based on, for example, the wheel speed of the front wheels and the wheel speed of the rear wheels. Note that a parameter other than the slip ratio (for example, another physical quantity that can be substantially converted into a slip ratio) may be used as the slip degree.

The execution unit 22 may execute a slip control operation based on on-vehicle state information acquired based on the output result of the rear camera 15. For example, the execution unit 22 may control the slip degree of the wheels in the slip control operation so that the slip degree of the wheels changes according to the risk of driving estimated from the on-vehicle state information. However, in this case, the execution unit 22 does not necessarily have to perform a process of evaluating the risk of driving. As described above, by acquiring the on-vehicle state information based on the output result of the rear camera 15, it is possible to acquire the on-vehicle state information more appropriately. Therefore, it is possible to appropriately perform a slip control operation according to the state on the saddle-ride type vehicle 1. Therefore, it is possible to improve the safety of the saddle-ride type vehicle 1.

The driving assistance operation may include, for example, a hill hold operation. The hill hold operation is an operation that generates a braking force on the saddle-type vehicle 1 while the vehicle is stopped, without the rider 2 applying the brakes, in order to prevent the saddle-type vehicle 1 from rolling backward when starting on a slope.

The execution unit 22 may execute a hill hold operation based on on-vehicle state information acquired based on the output results of the rear camera 15. For example, the execution unit 22 may control the braking force of the saddle-ride type vehicle 1 in the hill hold operation so that the braking force of the saddle-ride type vehicle 1 changes according to the degree of danger of driving estimated from the on-vehicle state information. However, in this case, the execution unit 22 does not necessarily have to perform a process of evaluating the degree of danger of driving. As described above, by acquiring the on-vehicle state information based on the output results of the rear camera 15, it is possible to acquire the on-vehicle state information more appropriately. Therefore, it is possible to appropriately perform a hill hold operation according to the state on the saddle-ride type vehicle 1. Therefore, it is possible to improve the safety of the saddle-ride type vehicle 1.

The driving assistance operation may include, for example, an operation using surrounding environment information acquired based on the output results of the surrounding environment sensor 16 provided in the saddle-type vehicle 1, or surrounding environment information acquired via wireless communication with other vehicles or infrastructure facilities.

The operation using the surrounding environment information may be, for example, a notification operation that notifies the rider of the approach of another vehicle. In the above notification operation, the execution unit 22 causes the alarm device 13 to perform, for example, a display or audio output that notifies the rider of the approach of another vehicle. The operation using the surrounding environment information may also be, for example, adaptive cruise control. In the adaptive cruise control, the execution unit 22 controls the speed of the saddle-ride type vehicle 1 according to the inter-vehicle distance between the saddle-ride type vehicle 1 and the preceding vehicle so as to avoid a collision with the preceding vehicle. The operation using the surrounding environment information may also be, for example, automatic emergency braking. In the automatic emergency braking, when the saddle-ride type vehicle 1 comes too close to the preceding vehicle so as to avoid a collision with the preceding vehicle, the execution unit 22 automatically generates a braking force on the saddle-ride type vehicle 1.

The execution unit 22 may execute an operation using the surrounding environment information based on the on-vehicle state information acquired based on the output result of the rear camera 15. For example, the execution unit 22 may perform various controls in an operation using the surrounding environment information so that the timing of notifying the rider of the approach of another vehicle and the braking force and driving force of the saddle-ride type vehicle 1 change according to the degree of danger of driving estimated from the on-vehicle state information. However, in this case, the execution unit 22 does not necessarily have to perform a process of evaluating the degree of danger of driving. As described above, by acquiring the on-vehicle state information based on the output result of the rear camera 15, it is possible to acquire the on-vehicle state information more appropriately. Therefore, it is possible to appropriately perform an operation using the surrounding environment information according to the state of the saddle-ride type vehicle 1. Therefore, it is possible to improve the safety of the saddle-ride type vehicle 1.

Here, the acquisition unit 21 may acquire the surrounding environment information based on the output result of the rear camera 15 as the surrounding environment sensor. The field of view FV15 of the rear camera 15 faces forward. Therefore, the acquisition unit 21 can acquire the surrounding environment information related to the environment within the field of view FV15 of the rear camera 15 based on the image captured by the rear camera 15. In particular, since the field of view FV15 of the rear camera 15 includes the area on the side of the saddle-ride type vehicle 1, the surrounding environment information acquired based on the output result of the rear camera 15 includes information regarding the relationship between the position of a target (e.g., another vehicle) present on the side of the saddle-ride type vehicle 1 and the position of the saddle-ride type vehicle 1. Therefore, for example, by using the surrounding environment information acquired based on the output result of the rear camera 15 in addition to the surrounding environment information detected by the surrounding environment sensor 16, the operation using the surrounding environment information can be performed more appropriately.

<Effects of the control device>
The effects of the control device 20 according to the embodiment of the present invention will be described.

In the control device 20, the acquisition unit 21 acquires on-vehicle status information, which is status information of the photographed object riding on the saddle-ride type vehicle 1, based on the output result of the rear camera 15. The execution unit 22 executes the driving assistance operation of the rider 2 by the rider assistance system 10 based on the on-vehicle status information. As described above, the image captured by the rear camera 15 shows a wider range of the photographed object (e.g., the rider 2) riding on the saddle-ride type vehicle 1 compared to the image captured by the front camera 14. Therefore, by acquiring the on-vehicle status information based on the output result of the rear camera 15, it is possible to acquire the on-vehicle status information more appropriately. Therefore, it is possible to appropriately perform the driving assistance operation according to the status on the saddle-ride type vehicle 1. Therefore, it is possible to improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the on-vehicle state information includes rider 2 posture information. Here, the rider 2 posture information is acquired based on the output results of the rear camera 15. This makes it possible to acquire the rider 2 posture information more appropriately. Therefore, it is possible to appropriately perform driving assistance operations according to the rider 2 posture. Therefore, it is possible to appropriately improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the posture information includes information indicating the positions of the body parts of the rider 2 relative to the saddle-ride type vehicle 1. This makes it possible to obtain more detailed posture information of the rider 2. This makes it possible to more appropriately perform driving assistance operations according to the posture of the rider 2. This makes it possible to more appropriately improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the posture information includes information indicating the orientation of the body parts of the rider 2 relative to the saddle-ride type vehicle 1. This makes it possible to obtain more detailed posture information of the rider 2. This makes it possible to more appropriately perform driving assistance operations according to the posture of the rider 2. This makes it possible to more appropriately improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the on-vehicle status information includes rider 2 equipment information. Here, the rider 2 equipment information is acquired based on the output results of the rear camera 15. This makes it possible to acquire rider 2 equipment information more appropriately. Therefore, driving assistance operations can be appropriately performed according to the mounting state of rider 2's equipment. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the on-vehicle condition information includes skin exposure information of the rider 2. Here, the skin exposure information of the rider 2 is acquired based on the output result of the rear camera 15. This makes it possible to acquire the skin exposure information of the rider 2 more appropriately. Therefore, it is possible to appropriately perform driving assistance operations according to the exposed skin state of the rider 2. Therefore, it is possible to appropriately improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the on-vehicle status information includes information on the number of passengers in the saddle-ride type vehicle 1. Here, the information on the number of passengers is acquired based on the output results of the rear camera 15. This makes it possible to acquire the information on the number of passengers more appropriately. Therefore, it is possible to appropriately perform driving assistance operations according to the number of passengers in the saddle-ride type vehicle 1. Therefore, it is possible to appropriately improve the safety of the saddle-ride type vehicle 1.

Preferably, in the control device 20, the on-board status information includes luggage information of the saddle-ride type vehicle 1. Here, the luggage information is acquired based on the output results of the rear camera 15. This makes it possible to acquire luggage information more appropriately. Therefore, driving assistance operations can be appropriately performed according to the luggage loading status of the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the driving assistance operation includes a warning operation for the rider 2. This allows the warning operation for the rider 2 to be appropriately performed according to the state of the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the driving assistance operation includes a slip control operation. This allows the slip control operation to be performed appropriately according to the state of the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the driving assistance operation includes a hill hold operation. This allows the hill hold operation to be performed appropriately according to the state of the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the driving assistance operation includes an operation using surrounding environment information acquired based on the output result of the surrounding environment sensor 16 provided in the saddle-ride type vehicle 1, or surrounding environment information acquired via wireless communication with other vehicles or infrastructure facilities. This allows the operation using the surrounding environment information to be appropriately performed according to the state of the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be appropriately improved.

Preferably, in the control device 20, the acquisition unit 21 acquires the surrounding environment information based on the output result of the rear camera 15 as the surrounding environment sensor. As a result, for example, by using the surrounding environment information acquired based on the output result of the rear camera 15 in addition to the surrounding environment information detected by the surrounding environment sensor 16, it is possible to more appropriately perform operations using the surrounding environment information.

Preferably, in the control device 20, the acquisition unit 21 acquires on-vehicle status information based on the output results of the front camera 14, which is provided forward of the riding position of the rider 2 and faces rearward, in addition to the output results of the rear camera 15. This allows the on-vehicle status information to be acquired based on more information than when the on-vehicle status information is acquired based only on the output results of the rear camera 15, making it possible to acquire on-vehicle status information more appropriately. Furthermore, by using the output results of the front camera 14, it is also possible to acquire on-vehicle status information other than on-vehicle status information acquired based only on the output results of the rear camera 15. Therefore, the driving assistance operation can be performed more appropriately according to the status on the saddle-ride type vehicle 1. Therefore, the safety of the saddle-ride type vehicle 1 can be improved more appropriately.

The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented. In addition, the above describes an example in which on-vehicle status information is acquired based only on the output results of the rear camera 15, or an example in which on-vehicle status information is acquired based on the output results of the front camera 14 in addition to the output results of the rear camera 15. However, on-vehicle status information may also be acquired based only on the output results of the front camera 14.

REFERENCE SIGNS LIST 1 saddle-ride vehicle, 2 rider, 10 rider assistance system, 11 engine, 12 hydraulic control unit, 13 notification device, 14 front camera, 15 rear camera, 16 surrounding environment sensor, 17 front wheel speed sensor, 18 rear wheel speed sensor, 20 control device, 21 acquisition unit, 22 execution unit, FV14 field of view, FV15 field of view.

Claims (15)

A control device (20) for a rider assistance system (10) that assists a rider (2) in driving a saddle-type vehicle (1), comprising:
an acquisition unit (21) that acquires on-vehicle status information, which is status information of an imaged object riding on the saddle-ride type vehicle (1), based on an output result of a rear camera (15) that is provided rearward of a riding position of the rider (2) of the saddle-ride type vehicle (1) and faces forward;
an execution unit (22) that executes a driving assistance operation for the rider (2) by the rider assistance system (10) based on the on-vehicle state information;
Equipped with
The execution unit (22) determines whether or not the rider (2) is riding on the vehicle based on the output result of the rear camera (15), and executes the driving assistance operation when the rider (2) is riding on the vehicle.
Control device. The on-board state information includes posture information of the rider (2).
The control device according to claim 1 . The posture information includes information indicating positions of body parts of the rider (2) relative to the saddle-ride type vehicle (1).
The control device according to claim 2. The posture information includes information indicating an orientation of a body part of the rider (2) relative to the saddle riding type vehicle (1).
The control device according to claim 2 or 3. The on-board status information includes information about equipment worn by the rider (2).
The control device according to any one of claims 1 to 4. The on-board state information includes skin exposure information of the rider (2).
The control device according to any one of claims 1 to 5. The on-board status information includes information on the number of passengers in the saddle-ride type vehicle (1).
The control device according to any one of claims 1 to 6. The on-board status information includes luggage information of the saddle type vehicle (1).
The control device according to any one of claims 1 to 7. The driving assistance operation includes a warning operation to the rider (2).
The control device according to any one of claims 1 to 8. The driving assistance operation includes a slip control operation.
The control device according to any one of claims 1 to 9. The driving assistance operation includes a hill hold operation.
The control device according to any one of claims 1 to 10. The driving assistance operation includes an operation using surrounding environment information acquired based on an output result of a surrounding environment sensor (16) provided in the saddle type vehicle (1), or surrounding environment information acquired via wireless communication with another vehicle or infrastructure equipment.
A control device according to any one of claims 1 to 11. The acquisition unit (21) acquires the surrounding environment information based on an output result of the rear camera (15) serving as the surrounding environment sensor.
The control device according to claim 12. The acquisition unit (21) acquires the on-vehicle state information based on the output result of the front camera (14) that is provided forward of the riding position of the rider (2) and faces rearward, in addition to the output result of the rear camera (15).
A control device according to any one of claims 1 to 13. A control method for a rider assistance system (10) that assists a rider (2) in driving a saddle-type vehicle (1), comprising the steps of:
an acquisition unit (21) of the control device (20) acquires on-vehicle status information, which is status information of an imaged object riding on the saddle-ride type vehicle (1), based on an output result of a rear camera (15) that is provided rearward of a riding position of the rider (2) of the saddle-ride type vehicle (1) and faces forward;
an execution unit (22) of the control device (20) executes a driving assistance operation for the rider (2) by the rider assistance system (10) based on the on-vehicle state information;
the execution unit (22) determines whether or not the rider (2) is riding on the vehicle based on the output result of the rear camera (15), and executes the driving assistance operation when the rider (2) is riding on the vehicle.
Control methods.

Images