阅读说明：本技术 跨骑型车辆以及控制装置 (Saddle-ride type vehicle and control device ) 是由 前田扩 深谷和幸 户村甲子男 内笹井弘明 安部崇志 于 2021-03-01 设计创作，主要内容包括：本发明涉及跨骑型车辆以及控制装置,能够发出与跨骑型车辆相适合的车道偏离的警报。其具备：设定机构,其在本车辆的行驶车道与对向车道之间的边界设定警报线；警报机构,其在所述本车辆跨越了所述警报线的情况下发出警报；检测机构,其检测所述行驶车道上的难以行驶区域；以及判定机构,其在由所述检测机构检测到所述难以行驶区域的情况下,判定所述本车辆是难以通过还是能够通过所述边界与所述难以行驶区域之间,在所述判定机构判定为所述本车辆难以通过的情况下,所述设定机构将所述警报线的位置从所述边界变更到向所述对向车道侧偏移的位置,另一方面,在所述判定机构判定为所述本车辆能够通过的情况下,所述设定机构不变更所述警报线的位置。(The invention relates to a saddle-ride type vehicle and a control device, which can give an alarm of lane departure suitable for the saddle-ride type vehicle. It is provided with: a setting unit that sets an alarm line at a boundary between a traveling lane and an opposite lane of a host vehicle; an alarm mechanism that issues an alarm when the host vehicle crosses the alarm line; a detection means that detects a hard-to-travel region on the travel lane; and a determination unit that determines whether the host vehicle is difficult to pass through or can pass through between the boundary and the difficult-to-travel area when the detection unit detects the difficult-to-travel area, wherein the setting unit changes the position of the warning line from the boundary to a position shifted toward the opposite lane when the determination unit determines that the host vehicle is difficult to pass through, and the setting unit does not change the position of the warning line when the determination unit determines that the host vehicle can pass through.)

1. A saddle-ride type vehicle, characterized in that,

the straddle-type vehicle is provided with:

a setting unit that sets an alarm line at a boundary between a traveling lane and an opposite lane of a host vehicle;

an alarm mechanism that issues an alarm when the host vehicle crosses the alarm line;

a detection means that detects a hard-to-travel region on the travel lane; and

a determination means that determines whether the own vehicle is difficult to pass through or can pass between the boundary and the hard-to-travel region when the hard-to-travel region is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position shifted toward the opposite lane when the determination means determines that the host vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the host vehicle is likely to pass through.

2. The straddle-type vehicle according to claim 1, wherein the determination means determines that the host vehicle is unlikely to pass therethrough when a distance between the boundary and the hard-to-travel area is equal to or less than a predetermined distance.

3. The straddle-type vehicle according to claim 1, wherein the determination means determines whether the own vehicle is difficult to pass or can pass depending on a type of the vehicle in parking, in a case where the difficult-to-travel region is a difficult-to-travel region resulting from parking of the vehicle.

4. The straddle-type vehicle according to claim 1,

the detection means detects another vehicle traveling on the opposite lane,

the warning means issues a warning even if the host vehicle does not cross the warning line, when the determination means determines that the host vehicle can pass and the detection means detects the other vehicle.

5. The straddle-type vehicle according to claim 4,

the straddle-type vehicle includes a limiting means for limiting a speed of the vehicle when the determining means determines that the vehicle can pass and the detecting means detects the other vehicle, and when a width between the boundary and the hard-to-travel region is smaller than a threshold value.

6. The straddle-type vehicle according to claim 5,

the saddle-ride type vehicle is provided with a type determination means for determining the type of the other vehicle,

the threshold value is set smaller when the other vehicle is determined to be a two-wheeled vehicle than when the other vehicle is determined to be a four-wheeled vehicle by the type determination means.

7. A control device for a saddle-ride type vehicle, characterized in that,

the control device is provided with:

a setting unit that sets an alarm line at a boundary between a traveling lane and an opposite lane of a host vehicle;

an alarm mechanism that issues an alarm when the host vehicle crosses the alarm line;

a detection means that detects a hard-to-travel region on the travel lane; and

a determination means that determines whether the own vehicle is difficult to pass through or can pass between the boundary and the hard-to-travel region when the hard-to-travel region is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position shifted toward the opposite lane when the determination means determines that the host vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the host vehicle is likely to pass through.

Technical Field

The present invention relates to a saddle-ride type vehicle and a control device.

Background

As a driving assistance technique for a vehicle, a technique of issuing a warning when a vehicle deviates from a lane is known. However, when another vehicle is parked in the traveling lane of the host vehicle or when a road construction is performed, the host vehicle may have to deviate from the lane. Patent document 1 proposes a technique of shifting a position where an alarm is issued toward an opposite lane side when a traveling lane of a host vehicle is substantially narrowed due to an obstacle existing in the traveling lane.

Documents of the prior art

Patent document

Patent document 1: japanese patent No. 5896505

Disclosure of Invention

Problems to be solved by the invention

The straddle-type vehicle has a narrower vehicle width than the four-wheel vehicle and can pass through a space narrower than the four-wheel vehicle. Even when the traveling lane of the host vehicle is substantially narrowed due to an obstacle existing in the traveling lane, the host vehicle may travel without entering the oncoming lane if the host vehicle is a straddle-type vehicle.

Means for solving the problems

According to the present invention, there is provided a saddle-ride type vehicle characterized in that,

the straddle-type vehicle is provided with:

a setting unit that sets an alarm line at a boundary between a traveling lane and an opposite lane of a host vehicle;

an alarm mechanism that issues an alarm when the host vehicle crosses the alarm line;

a detection means that detects a hard-to-travel region on the travel lane; and

a determination means that determines whether the own vehicle is difficult to pass through or can pass between the boundary and the hard-to-travel region when the hard-to-travel region is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position shifted toward the opposite lane when the determination means determines that the host vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the host vehicle is likely to pass through.

Further, according to the present invention, there is provided a control device for a saddle-ride type vehicle, characterized in that,

the control device is provided with:

a setting unit that sets an alarm line at a boundary between a traveling lane and an opposite lane of a host vehicle;

an alarm mechanism that issues an alarm when the host vehicle crosses the alarm line;

a detection means that detects a hard-to-travel region on the travel lane; and

a determination means that determines whether the own vehicle is difficult to pass through or can pass between the boundary and the hard-to-travel region when the hard-to-travel region is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position shifted toward the opposite lane when the determination means determines that the host vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the host vehicle is likely to pass through.

Effects of the invention

According to the present invention, it is possible to issue a warning of a lane departure suitable for a saddle-ride type vehicle.

Drawings

Fig. 1 is a side view of a right side of a straddle-type vehicle according to an embodiment of the present invention.

Fig. 2 is a front view of the straddle-type vehicle of fig. 1.

Fig. 3 is a block diagram of the control device.

Fig. 4A and 4B are flowcharts showing an example of processing of the control device.

Fig. 5A and 5B are flowcharts showing an example of processing of the control device.

Fig. 6A and 6B are explanatory diagrams showing an operation example.

Fig. 7A and 7B are explanatory views showing an operation example.

Fig. 8A and 8B are explanatory diagrams showing an operation example.

Fig. 9A and 9B are explanatory diagrams showing an operation example.

Fig. 10A and 10B are explanatory views showing an operation example.

Fig. 11A and 11B are explanatory views showing operation examples.

Fig. 12A and 12B are explanatory diagrams showing an operation example.

Description of the reference numerals

1: a straddle-type vehicle; 10: and a control device.

Detailed Description

Hereinafter, embodiments will be described in detail with reference to the drawings. The following embodiments do not limit the invention according to the claims, and all combinations of features described in the embodiments are not necessarily essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. The same or similar components are denoted by the same reference numerals, and redundant description thereof is omitted.

In each figure, an arrow X, Y, Z indicates directions orthogonal to each other, an X direction indicates a front-rear direction of the straddle-type vehicle, a Y direction indicates a vehicle width direction (left-right direction) of the straddle-type vehicle, and a Z direction indicates a vertical direction. The left and right of the saddle-ride type vehicle are the left and right as viewed in the forward direction. Hereinafter, the front or rear of the straddle-type vehicle in the front-rear direction may be simply referred to as the front or rear. In addition, the inner side or the outer side in the vehicle width direction (left-right direction) of the saddle-ride type vehicle may be simply referred to as the inner side or the outer side.

< overview of straddle-type vehicle >

Fig. 1 is a side view of the right side of a straddle-type vehicle 1 according to an embodiment of the present invention, and fig. 2 is a front view of the straddle-type vehicle 1.

The saddle-ride type vehicle 1 is a two-wheeled motorcycle suitable for traveling over a long distance, but the present invention can be applied to various saddle-ride type vehicles including other types of two-wheeled motorcycles, and can also be applied to electric vehicles using a motor as a drive source, in addition to vehicles using an internal combustion engine as a drive source. Hereinafter, the saddle-ride type vehicle 1 may be referred to as a vehicle 1.

The vehicle 1 includes a power unit 2 between front wheels FW and rear wheels RW. In the case of the present embodiment, the power unit 2 includes an engine 21 and a transmission 22 that horizontally oppose six cylinders. The driving force of the transmission 22 is transmitted to the rear wheels RW via a drive shaft, not shown, to rotate the rear wheels RW.

The power unit 2 is supported by a vehicle body frame 3. The vehicle body frame 3 includes a pair of right and left main frames 31 extending in the X direction. A fuel tank 5 and an air cleaner case (not shown) are disposed above the main frame 31. An instrument panel MP having an electronic image display device for displaying various information to a rider is provided in front of the fuel tank 5.

A head pipe 32 that rotatably supports a steering shaft (not shown) that is rotated by the handlebar 8 is provided at a front end of the main frame 31. A pair of left and right pivot plates 33 are provided at the rear end of the main frame 31. The lower end of the pivot plate 33 is connected to the front end of the main frame 31 via a pair of left and right lower arms (not shown), and the power unit 2 is supported by the main frame 31 and the lower arms. A pair of left and right seat rails (not shown) extending rearward are further provided at the rear end of the main frame 31, and support a seat 4a on which a rider sits, a seat 4b on which the rider sits, a rear storage box 7b, and the like.

A front end portion of a rear swing arm (not shown) extending in the front-rear direction is supported on the pivot plate 33 so as to be swingable. The rear swing arm is swingable in the up-down direction, and a rear wheel RW is supported at a rear end portion thereof. An exhaust muffler 6 for muffling exhaust gas of the engine 21 is provided to extend in the X direction on a lower side of the rear wheel RW. Left and right seat backs 7a are provided laterally on the upper portion of the rear wheel RW.

A front suspension mechanism 9 for supporting front wheels FW is formed at a front end of the main frame 31. The front suspension mechanism 9 includes an upper link 91, a lower link 92, a fork support 93, a cushion unit 94, and a pair of left and right front forks 95.

The upper link 91 and the lower link 92 are disposed at a vertically spaced interval at the front end of the main frame 31. Rear end portions of the upper link 91 and the lower link 92 are connected to support portions 31a and 31b (fig. 1) provided at a front end portion of the main frame 31 so as to be swingable. The front end portions of the upper link 91 and the lower link 92 are connected to a fork support 93 so as to be swingable. The upper link 91 and the lower link 92 extend in the front-rear direction and are arranged substantially in parallel.

The damper unit 94 has a structure in which a damper is inserted into a coil spring, and an upper end portion thereof is swingably supported by the main frame 31. The lower end of the cushion unit 94 is swingably supported by the lower link 92.

The fork support 93 is cylindrical and inclined rearward. The front end portion of the upper link 21 is rotatably coupled to the upper front portion of the fork support 93. A front end portion of the lower link 92 is rotatably connected to a lower rear portion of the fork support 93.

The fork support 93 supports a steering shaft 96 rotatably about its axis. The steering shaft 96 has a shaft portion (not shown) through which the fork support 93 is inserted. A bridge (not shown) is provided at a lower end portion of the steering shaft 96, and a pair of left and right front forks 95 are supported by the bridge. The front wheel FW is rotatably supported by the front fork 95. An upper end portion of the steering shaft 96 is coupled to a steering shaft (not shown) that is rotated by the handlebar 8 via a link 97. The steering shaft 96 is rotated by the steering of the handle 8, and the front wheel FW is steered.

The vehicle 1 includes a brake device 19F that brakes the front wheels FW and a brake device 19R that brakes the rear wheels RW. The brake devices 19F and 19R are configured to be operated by a rider operating the brake lever 8a or the brake pedal 8 b. The brake devices 19F and 19R are, for example, disc brakes. In the case where the brake devices 19F and 19R are not distinguished, they are collectively referred to as the brake device 19.

A headlamp unit 11 that irradiates light to the front of the vehicle 1 is disposed in the front of the vehicle 1. The headlamp unit 11 of the present embodiment is a binocular headlamp unit including right and left light irradiators 11R and 11L symmetrically. However, a single-eye type, a three-eye type, or a double-eye type in which the left and right are asymmetrical may be employed.

The front portion of the vehicle 1 is covered with a front cover 12, and the side portion of the front side of the vehicle 1 is covered with a pair of left and right side covers 14. A screen 13 is disposed above the front cover 12. The screen 13 is a windshield that relieves the wind pressure to which the rider is subjected during traveling, and is formed of, for example, a transparent resin member.

A pair of left and right side mirror units 15 are disposed on the sides of the front cover 12. A side mirror (not shown) for allowing a rider to visually confirm the rear is supported by the side mirror unit 15.

In the present embodiment, the front cover 12 is composed of cover members 121 to 123. The cover member 121 extends in the Y direction to constitute a main body of the front cover 12, and the cover member 122 constitutes an upper portion of the cover member 121. The cover member 123 is disposed apart from the cover member 121 in the downward direction.

An opening for exposing the headlamp unit 11 is formed between the cover member 121 and the cover member 123 and between the pair of left and right side covers 14, an upper edge of the opening is defined by the cover member 121, a lower edge is defined by the cover member 123, and left and right side edges are defined by the side covers 14.

Behind the front cover 12, an imaging unit 16A and a radar 16B are arranged as detection devices that detect a situation in front of the vehicle 1. The radar 16B is, for example, a millimeter wave radar. The imaging unit 16A includes an imaging element such as a CCD image sensor or a CMOS image sensor, and an optical system such as a lens, and captures an image in front of the vehicle 1. The imaging unit 16A is disposed behind a cover member 122 that constitutes an upper portion of the front cover 12. The cover member 122 has an opening 122a formed therethrough, and the image pickup unit 16A picks up an image of the front side of the vehicle 1 through the opening 122 a.

The radar 16B is disposed behind the cover member 121. Due to the presence of the cover member 121, the presence of the detection mechanism 16 can be made inconspicuous when the front of the vehicle 1 is observed, and deterioration of the appearance of the vehicle 1 can be avoided. The cover member 121 is made of a material that can transmit electromagnetic waves, such as resin.

The imaging unit 16A and the radar 16B are disposed in the center portion of the front cover 12 in the Y direction when the vehicle is viewed from the front. By disposing the imaging unit 16A and the radar 16B at the center portion of the vehicle 1 in the Y direction, it is possible to obtain a wider imaging range and detection range on the left and right sides of the front of the vehicle 1, and it is possible to detect the situation in front of the vehicle 1 without omission. Further, since the front of the vehicle 1 can be monitored uniformly in the left-right direction by one imaging unit 16A and one radar 16B, it is particularly advantageous in a configuration in which a plurality of imaging units 16A and radars 16B are not provided, but one each.

< control device >

Fig. 3 is a block diagram of the control device 10 of the vehicle 1, and illustrates only a configuration necessary for a relationship with the following description. The vehicle 1 includes a control unit (ECU)10 a. The control unit 10a includes a processor typified by a CPU, a storage device such as a semiconductor memory, an input/output interface or a communication interface with an external device, and the like. The storage device stores a program executed by the processor, data used by the processor in processing, and the like. The control unit 10a may include a plurality of sets of processors, storage devices, interfaces, and the like corresponding to the respective functions of the vehicle 1.

The control unit 10a acquires the detection results of the imaging unit 16A and the radar 16B, and recognizes the target object and the road state around the vehicle 1 as needed. In addition, the control unit 10a acquires information from the GPS sensor 17, the communication device 18, and the map information database DB. The GPS sensor 17 detects the current position of the vehicle 1. The communication device 18 wirelessly communicates with a server that provides map information and traffic information, and acquires these pieces of information. The map information database DB can store highly accurate map information, and the control unit 10a can specify the form of the road being traveled and the position of the vehicle 1 on the lane with higher accuracy based on the map information and the like.

The control unit 10a can control the actuators of the power unit 2 and the brake 19. In the case of the present embodiment, when speed limiting processing described later is performed, the control unit 10a controls them. The control unit 10a is also capable of performing display control of the meter panel MP. In the present embodiment, various warning displays for the rider are displayed on the meter panel MP. In the present embodiment, the alarm is activated as an image display on the meter panel MP, but a lamp may be turned on or off, or an alarm may be activated by sound. The sound-based alarm may be activated by controlling to output a sound from a speaker provided in the rider's helmet through wireless communication.

< Lane departure warning >

In the present embodiment, when the vehicle 1 deviates from the driving lane, the instrument panel MP gives an alarm to the rider to prompt the rider to pay attention. The contents of this processing will be described. First, setting of a virtual warning line on a road which is a reference position for starting a warning will be described. Fig. 4A is a flowchart relating to the alarm line setting process executed by the control unit 10 a. In the following example, a left-side traffic is assumed as a traffic rule of vehicles on a road. Each of the following processes is periodically repeated by the control unit 10 a.

In S1, the boundary between the traveling lane and the opposite lane is recognized using the recognition result of the road state by the image pickup unit 16A and the map information in the map information database DB. In S2, an alarm line is set at the position of the boundary identified in S1. Fig. 6A, 7A, and 7B are explanatory diagrams showing examples of setting of alarm lines. First, fig. 6A is referred to.

Fig. 6A shows an example of a road defined by the driving lane 101 and the opposite lane 102 with the center isolation zone 103. As in this example, in the road 100 in which the center isolation zone 103 exists, the boundary between the traveling lane 101 and the opposite lane 102 is recognized as the center isolation zone 103, and the alarm line 104 is set at the position of the center isolation zone 103.

Next, fig. 7A is referred to. Fig. 7A shows an example of a road 100 without a central isolation zone. In this case, with respect to the width L of the road 100, the position of L/2 from the width end of the road 100 is recognized as the boundary 103' between the driving lane 101 and the opposite lane 102, and the warning line 104 is set at this position as shown in fig. 7B.

Next, the change of the alarm line will be described. There are some cases where an obstacle such as a parked vehicle exists in the travel lane and a part of the travel lane is obstructed by construction. In the case where such a hard-to-travel region exists in the travel lane, the vehicle 1 has to enter the oncoming lane. Therefore, when the vehicle 1 deviates from the traveling lane and issues an alarm, the rider may feel uncomfortable, and it is desirable to change the position of the alarm line to the opposite lane side to suppress the issuance of the alarm.

On the other hand, the straddle-type vehicle has a smaller vehicle width than a four-wheel vehicle, and particularly a motorcycle is a motorcycle having a vehicle width of less than half of that of a motorcycle. Therefore, even when there is a hard-to-travel region on the travel lane, there is a case where the traffic is not substantially obstructed. Therefore, in the present embodiment, when there is a region difficult to travel on the travel lane, it is determined whether the vehicle 1 can pass on the travel lane, the position of the warning line 104 is changed when the vehicle is difficult to pass, and the position of the warning line 104 is maintained when the vehicle is passable. Fig. 4B is a flowchart relating to the alarm line setting process executed by the control unit 10 a.

At S11, it is determined whether or not the hard-to-travel region is detected ahead on the travel lane of the vehicle 1 based on the recognition result of the target object on the travel lane from the detection results of the imaging unit 16A and the radar 16B. For example, when the presence of a vehicle in a parking space, construction, or the like is detected, the hard-to-travel area is set as an area surrounding the detection target object. If a hard-to-travel area is detected, the process proceeds to S12, and if a hard-to-travel area is not detected, the process is ended once.

In S12, a width W between the boundary between the traveling lane and the opposite lane and the hard-to-travel region is calculated. An example of the width W is illustrated in fig. 8A. As shown in the figure, the width W is the distance between the rightmost end of the hard-to-travel region 110 and the boundary (center separation belt 103). In S13, it is determined whether the vehicle 1 is difficult to pass between the boundary between the driving lane and the opposing lane and the hard-to-travel region by comparing the width W with the threshold W1. Fig. 6A and 8A illustrate the threshold value W1. The threshold value W1 is a width through which the vehicle 1 can pass, and is, for example, a width 2 times the vehicle width of the vehicle 1.

If it is determined at S13 that the width W is equal to or less than the threshold value W1, it is determined that the vehicle 1 is unlikely to pass by the hard-to-travel region without entering the oncoming lane, and the warning line 104 is changed. Fig. 8A illustrates the changed position of the alarm line 104. The warning line 104 is changed to a position shifted by an amount 2 times the width of the vehicle 1 toward the opposite lane 102, for example. If it is determined in S13 that the width W exceeds the threshold value W, it is determined that the vehicle 1 can pass by the side of the hard-to-travel region without entering the oncoming lane, and the warning line 104 is not changed. Fig. 9A shows an example in which the position of the alarm line 104 is not changed.

Next, an example of control at the time of alarm activation will be described. Fig. 5A is a flowchart thereof. In S21, the widthwise travel position on the road of the vehicle 1 is compared with the position of the warning line 104. In S22, it is determined whether the vehicle 1 crosses the warning line 104 based on the comparison result of S21. If it is determined that the alarm line has not been crossed, the process is ended once. If it is determined that the warning line has been crossed, the routine proceeds to S23, where a warning notifying the rider of the lane departure is issued.

Fig. 6A and 6B show an example of setting of the alarm line 104 and an example of the start of the alarm. In the example of fig. 6A, there is no hard-to-travel region on the travel lane 101, and the warning line 104 is set on the center isolation zone 103. Fig. 6B shows a state where the vehicle 1 crosses the warning line 104 and enters the oncoming lane 102. An alarm is displayed on the instrument panel MP to call the attention of the rider.

Fig. 8A and 8B show an example of setting the alarm line 104 and an example of not activating an alarm. In the example of fig. 8A, a hard-to-travel region 110 exists on the travel lane 101, and the width W < the threshold value W1 is set. Therefore, the warning line 104 is set at a position shifted from the center isolation belt 103 toward the opposite lane 102. Fig. 8B shows a state where the vehicle 1 crosses the center barrier 103 into the oncoming lane 102. Since the vehicle 1 does not cross the warning line 104, no warning is displayed on the meter panel MP.

Fig. 9A and 9B also show an example of setting the alarm line 104 and an example of activating an alarm. In the example of fig. 9A, a hard-to-travel region 110 exists on the travel lane 101, and the width W > the threshold value W1 is set. Thus, the alarm line 104 is maintained on the central isolation band 103. Fig. 9B shows a state where the vehicle 1 crosses the center barrier 103 into the oncoming lane 102. The vehicle 1 crosses the alarm line 104, and therefore an alarm is displayed on the meter panel MP, calling the attention of the rider.

As described above, in the present embodiment, the position of the warning line 104 can be changed by the side of the hard-to-travel region 110 without entering the opposite lane, in addition to the presence or absence of the hard-to-travel region 110, and thus the warning of the lane departure suitable for the saddle-ride type vehicle can be issued without unnecessarily changing the warning line 104.

< attention calling in relation to the presence of oncoming vehicle >)

When the vehicle 1 passes by the hard-to-travel region 104, the vehicle 1 sometimes approaches the center isolation zone 103. When there is an oncoming vehicle in the oncoming lane 102, safety is improved by calling the rider's attention. In addition, when the width W is narrow, the speed of the vehicle 1 is restricted, which can improve the safety of the rider. Therefore, in the present embodiment, when the vehicle 1 passes by the hard travel region 104 and the oncoming vehicle is present in the oncoming traffic lane 102, a warning is issued to the rider. When the width W is narrow, a speed limit is imposed on the vehicle 1. Fig. 5B is a flowchart showing a control example thereof.

At S31, the current position of vehicle 1 is compared with the position of difficult-to-travel area 110, and it is determined whether or not vehicle 1 is approaching difficult-to-travel area 110 (whether or not it is within a predetermined distance from difficult-to-travel area 110). If it is determined that the vehicle 1 approaches the hard-to-travel region 110, the process proceeds to S32, and it is determined whether or not an oncoming vehicle is present in the oncoming lane 102 based on the recognition result of the target object in the oncoming lane from the detection results of the image pickup unit 16A and the radar 16B. If it is determined that there is an oncoming vehicle, the routine proceeds to S33.

At S33, the type of oncoming vehicle is determined and a threshold W2 is set. The threshold W2 is a threshold for evaluating the degree of narrowing of the width W, and is in the relationship of threshold W1 < threshold W2 as illustrated in fig. 6A. When the width W is narrow, caution is required when the vehicle 1 passes by the hard-to-travel region 110. Thus, a speed limit is imposed. The threshold value W2 is, for example, a value in the range of 2 to 3.5 times the vehicle width of the vehicle 1. The threshold value W2 may be a fixed value, but in the present embodiment, it differs depending on the type of oncoming vehicle. When the oncoming vehicle is a four-wheel vehicle, the traveling space of the vehicle 1 is narrow when the vehicle 1 enters the oncoming traffic lane 102. When the oncoming vehicle is a two-wheeled vehicle, the traveling space of the vehicle 1 is wider than that of a four-wheeled vehicle when the vehicle 1 enters the oncoming traffic lane 102. Therefore, when the oncoming vehicle is a four-wheel vehicle, the threshold value W2 is set to be relatively large, for example, to a value within a range of 3.0 to 3.5 times the vehicle width of the vehicle 1. When the oncoming vehicle is a two-wheeled vehicle, the threshold value W2 is set to be relatively small, for example, a value within a range of 2.0 to 3.0 times the vehicle width of the vehicle 1.

In S34, the width W calculated in S12 is compared with the threshold W2 set in S33, and if the width W is smaller than the threshold W2, the process proceeds to S35, and if the width W is larger, the process proceeds to S36. In S35, a process related to the speed limit is performed. The processing related to the speed limit may be, for example, processing that prohibits acceleration from the current vehicle speed and decelerates to a predetermined speed. As the control that does not allow acceleration from the current vehicle speed, there can be mentioned control that does not increase the output of the power unit 2 for the acceleration operation by the rider and maintains the current state. The control for decelerating to a predetermined speed may be performed by either or both of braking by the brake device 19 and lowering the output of the power unit 2.

In S36, an alarm is issued to the rider to prompt attention to the oncoming vehicle. In the present embodiment, the alarm is also given based on the display of the meter panel MP.

Fig. 10A and 10B illustrate an example of the start based on the presence or absence of the warning to the vehicle. In the example of fig. 10A, even if the vehicle 1 approaches the hard-to-travel region 110, since there is no oncoming vehicle on the oncoming lane 102, no warning is displayed on the meter panel MP. In the example of fig. 10B, since the vehicle 1 approaches the hard-to-travel region 110 and the oncoming vehicle 111 is present in the oncoming lane 102, an alarm is displayed on the meter panel MP to alert when the vehicle 1 passes by the side of the hard-to-travel region 110.

Fig. 11A and 11B illustrate examples of the start of an alarm and the speed limitation based on the presence or absence of an oncoming vehicle. Fig. 11A illustrates the relationship of the width W with the thresholds W1, W2. In the example of the figure, the width W > the threshold value W1 is set in the center separator 103 as the alarm line 104. On the other hand, the width W < the threshold value W2 is set to be narrow. In the example of fig. 11B, since the vehicle 1 approaches the hard-to-travel region 110 and the oncoming vehicle 111 exists in the oncoming lane 102, an alarm is displayed on the meter panel MP to alert when the vehicle 1 passes by the side of the hard-to-travel region 110. The counter vehicle 111 is a four-wheel vehicle. Further, as an example of the speed limitation, the brake device 19 is operated, and the vehicle 1 is automatically decelerated. The automatic deceleration control is also displayed on the meter panel MP.

Fig. 12A and 12B also illustrate examples of the start of an alarm and speed limitation based on the presence or absence of an oncoming vehicle. In the example of fig. 12A, since the vehicle 1 approaches the hard-to-travel region 110 and the oncoming vehicle 112 is present in the oncoming lane 102, an alarm is displayed on the meter panel MP to alert when the vehicle 1 passes by the side of the hard-to-travel region 110. The opposing vehicle 112 is a two-wheeled vehicle. When compared with the example in which the oncoming vehicle 111 of fig. 11A is a four-wheel vehicle, the threshold value W2 is set small. In the example of fig. 12A, the relationship of width W > threshold W2 is assumed. Therefore, no speed limit is imposed.

In the example of fig. 12B, since the vehicle 1 approaches the hard-to-travel region 110 and the oncoming vehicle 112 is present in the oncoming lane 102, an alarm is displayed on the meter panel MP to alert when the vehicle 1 passes by the side of the hard-to-travel region 110. The opposing vehicle 112 is a two-wheeled vehicle. In the example of fig. 12B, the relationship of width W < threshold W2 is assumed. Thus, as an example of speed limitation, the brake device 19 is operated and the vehicle 1 is automatically decelerated. The automatic deceleration control is also displayed on the meter panel MP.

< other determination method of difficulty in passing >

In the example of fig. 4B, whether the vehicle 1 is difficult to pass or can pass between the boundary between the driving lane and the opposing lane and the difficult-to-travel area is determined by comparing the width W with the threshold value W1, but another determination method may be employed. For example, when the hard-to-travel region is a hard-to-travel region resulting from the parking of the vehicle, the determination may be made according to the type of the vehicle in the parking. Specifically, when the vehicle is a two-wheeled vehicle, the vehicle width is narrow, and therefore it can be considered that a relatively large space exists between the boundary and the hard-to-travel region. Therefore, when the vehicle in parking is a two-wheeled vehicle, it is determined that the vehicle 1 can pass through. On the other hand, when the vehicle is a four-wheel vehicle, the vehicle width is wide, and therefore, the space between the boundary and the hard-to-travel region can be considered narrow. Therefore, when the vehicle being parked is a four-wheel vehicle, it is determined that the vehicle 1 is difficult to pass through. This determination method can relatively easily determine whether the vehicle 1 is difficult to pass or can pass. The presence and type of the parked vehicle may be determined based on the recognition result of the target object from the detection result of the imaging unit 16A.

< summary of the embodiments >

The above embodiment discloses at least the following saddle-ride type vehicle and control device.

1. The saddle-ride type vehicle (1) of the above embodiment includes:

setting means (10a, S2) for setting an alarm line (104) at a boundary (103) between a driving lane (101) and an opposite lane (102) of a host vehicle;

an alarm mechanism (MP, 10a, S23) for giving an alarm when the host vehicle crosses the alarm line;

detection means (16A, 16B) for detecting a hard-to-travel region on the travel lane; and

a determination means (10a, S13) for determining whether the vehicle is difficult to pass through or can pass between the boundary and the difficult-to-travel area when the difficult-to-travel area is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position offset toward the opposite lane when the determination means determines that the subject vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the subject vehicle is passable (10a, S13, S14).

According to this embodiment, a technology capable of issuing a warning of lane departure suitable for a saddle-ride type vehicle can be provided.

2. In the above-described embodiments of the present invention,

when the distance (W) between the boundary and the hard-to-travel region is equal to or less than a predetermined distance (W1), the determination means determines that the host vehicle is hard to pass (S13).

According to this embodiment, it is possible to relatively easily determine that the own vehicle is difficult to pass through.

3. In the above-described embodiments of the present invention,

in the case where the hard-to-travel region is a hard-to-travel region resulting from parking of a vehicle, the determination means determines whether the own vehicle is hard to pass or can pass depending on the type of the vehicle that is parked.

According to this embodiment, it can be easily determined that the own vehicle is difficult to pass through.

4. In the above-described embodiments of the present invention,

the detection means detects another vehicle (111, 112) traveling on the opposite lane,

the warning means issues a warning even if the host vehicle does not cross the warning line when the determination means determines that the host vehicle can pass and the detection means detects the other vehicle (MP, 10a, S36).

According to this embodiment, the rider can be alerted to the oncoming vehicle.

5. In the above-described embodiments of the present invention,

the straddle-type vehicle is provided with a limiting means (10a, S35) for limiting the speed of the vehicle when the determining means determines that the vehicle can pass and the detecting means detects the other vehicle, and when the width (W) between the boundary and the hard-to-travel region is smaller than a threshold value (W2).

According to this embodiment, the rider can more safely travel beside the hard-to-travel area.

6. In the above-described embodiments of the present invention,

the saddle-ride type vehicle is provided with type determination means (10a, S33) for determining the type of the other vehicle,

the threshold value is set smaller when the other vehicle is determined to be a two-wheeled vehicle than when the other vehicle is determined to be a four-wheeled vehicle by the type determination means (10a, S33).

According to this embodiment, the speed limitation can be performed within a necessary range.

7. The control device (10) of the above embodiment,

which is a control device for a saddle-ride type vehicle (1),

the control device is provided with:

setting means (10a, S2) for setting an alarm line (104) at a boundary (103) between a driving lane (101) and an opposite lane (102) of a host vehicle;

an alarm mechanism (MP, 10a, S23) for giving an alarm when the host vehicle crosses the alarm line;

detection means (16A, 16B) for detecting a hard-to-travel region on the travel lane; and

a determination means (10a, S13) for determining whether the vehicle is difficult to pass through or can pass between the boundary and the difficult-to-travel area when the difficult-to-travel area is detected by the detection means,

the setting means changes the position of the warning line from the boundary to a position offset toward the opposite lane when the determination means determines that the subject vehicle is unlikely to pass through, and does not change the position of the warning line when the determination means determines that the subject vehicle is passable (10a, S13, S14).

According to this embodiment, a technology capable of issuing a warning of lane departure suitable for a saddle-ride type vehicle can be provided.

While the embodiments of the invention have been described above, the invention is not limited to the embodiments described above, and various modifications and changes can be made within the scope of the invention.