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EP-4737243-A1 - CONTROL DEVICE AND CONTROL METHOD FOR RIDER ASSISTANCE SYSTEM

EP4737243A1EP 4737243 A1EP4737243 A1EP 4737243A1EP-4737243-A1

Abstract

The invention obtains a controller and a control method capable of improving assistance performance for a rider. A controller for a rider-assistance system includes an execution section that executes at least one of first automatic action and second automatic action. In the first automatic action, a lean vehicle is automatically stopped on the basis of operation state information, which is information on an operation state by a rider, in a second state where a reference section (P0) of an accelerator grip (120) is located within a second angle range (θ2). The reference section (P0) of the accelerator grip (120) is located at a reference angle (A0) in an unloaded state by the rider of the lean vehicle, and the accelerator grip (120) causes a change in drive power generated to the lean vehicle when being rotated in a state where the reference section (P0) is located within a first angle range (θ1).

Inventors

  • Pfau, Lars

Assignees

  • Robert Bosch GmbH

Dates

Publication Date
20260506
Application Date
20240604

Claims (15)

  1. A controller (20) for a rider-assistance system (1) of a lean vehicle (100), the controller comprising: an execution section (22) that executes vehicle speed control action to automatically control a vehicle speed generated to the lean vehicle (100), wherein the execution section (22) executes at least one of first automatic action and second automatic action, in the first automatic action, the lean vehicle (100) being automatically stopped, and in the second automatic action, the lean vehicle (100) being automatically started or accelerated, the first automatic action is action that is executed in the case where it is determined that there is a necessity to stop the traveling lean vehicle (100) in an executed state of the vehicle speed control action, the second automatic action is action that is executed in the case where it is determined that there is a necessity to start the lean vehicle (100) in a state where the lean vehicle (100) has been brought to a stop, or in the case where it is determined that there is a necessity to accelerate the lean vehicle (100) in a process of bringing the lean vehicle (100) to the stop, and the execution section (22) executes at least one of the actions on the basis of operation state information, which is information on an operation state by a rider, in a second state where a reference section (P0) of an accelerator grip (120) is located within a second angle range (θ2) that is located in a second direction (D2) opposite from a first direction (D1) with a reference angle (A0) being a reference, the reference section (P0) of the accelerator grip (120) being located at the reference angle (A0) in an unloaded state by the rider of the lean vehicle (100), and the accelerator grip (120) causing a change in drive power generated to the lean vehicle (100) when being rotated in a first state where the reference section (P0) is located within a first angle range (θ1) that is located in the first direction (D1) with the reference angle (A0) being the reference.
  2. The controller according to claim 1, wherein the execution section (22) initiates the first automatic action in the case where it is determined that there is the necessity to stop the lean vehicle (100) on the basis of the operation state information.
  3. The controller according to claim 1, wherein the execution section (22) initiates the second automatic action in the case where it is determined that there is the necessity to start or accelerate the lean vehicle (100) on the basis of the operation state information.
  4. The controller according to any one of claims 1 to 3, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to the operation state information.
  5. The controller according to any one of claims 1 to 3, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to surrounding environment information of the lean vehicle (100).
  6. The controller according to claim 5, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to positional relationship information between the lean vehicle (100) and a preceding vehicle (200), the positional relationship information being acquired as the surrounding environment information.
  7. The controller according to claim 5, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to stop line information and/or traffic sign information that is acquired as the surrounding environment information.
  8. The controller according to claim 5, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to traffic light information that is acquired as the surrounding environment information.
  9. The controller according to claim 5, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to traffic information that is acquired as the surrounding environment information.
  10. The controller according to any one of claims 1 to 3, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to positional information of the lean vehicle (100) on a global coordinate system.
  11. The controller according to any one of claims 1 to 3, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to posture information of the lean vehicle (100).
  12. The controller according to any one of claims 1 to 3, wherein in at least one of the actions, the execution section (22) causes the lean vehicle (100) to travel with a vehicle speed change that corresponds to setting input information by the rider.
  13. The controller according to any one of claims 1 to 3, wherein in the case where it is determined that safety of at least one of the actions does not satisfy a standard, the execution section (22) prohibits the at least one of the actions.
  14. The controller according to any one of claims 1 to 3, wherein in the case where it is determined that safety of at least one of the actions does not satisfy a standard, the execution section (22) executes notification action for the rider and/or a surrounding vehicle around the lean vehicle (100) .
  15. A control method for a rider-assistance system (1) of a lean vehicle (100), the control method comprising: executing vehicle speed control action by an execution section (22) of a controller (20), in the vehicle speed control action, a vehicle speed generated to the lean vehicle (100) being automatically controlled; and executing at least one of first automatic action and second automatic action by the execution section (22), in the first automatic action, the lean vehicle (100) being automatically stopped, and in the second automatic action, the lean vehicle (100) being automatically started or accelerated, wherein the first automatic action is action that is executed in the case where it is determined that there is a necessity to stop the traveling lean vehicle (100) in an executed state of the vehicle speed control action, the second automatic action is action that is executed in the case where it is determined that there is a necessity to start the lean vehicle (100) in a state where the lean vehicle (100) has been brought to a stop, or in the case where it is determined that there is a necessity to accelerate the lean vehicle (100) in a process of bringing the lean vehicle (100) to the stop, and the execution section (22) executes at least one of the actions on the basis of operation state information, which is information on an operation state by a rider, in a second state where a reference section (P0) of an accelerator grip (120) is located within a second angle range (θ2) that is located in a second direction (D2) opposite from a first direction (D1) with a reference angle (A0) being a reference, the reference section (P0) of the accelerator grip (120) being located at the reference angle (A0) in an unloaded state by the rider of the lean vehicle (100), and the accelerator grip (120) changing drive power generated to the lean vehicle (100) when being rotated in a first state where the reference section (P0) is located within a first angle range (θ1) that is located in the first direction (D1) with the reference angle (A0) being the reference.

Description

Technical Field The present invention relates to a controller for a rider-assistance system of a lean vehicle and to a control method for a rider-assistance system of a lean vehicle. Background Art One type of conventional rider-assistance systems executes vehicle speed control action to automatically control a vehicle speed generated to a lean vehicle (for example, see PTL 1). Citation List Patent Literature PTL 1: WO2018/197965A1 Summary of Invention Technical Problem It has been known that a different vehicle from the lean vehicle (for example, a passenger car or the like) executes first automatic action to automatically stop the vehicle in the case where it is determined that there is a necessity to stop the traveling vehicle in an executed state of the vehicle speed control action. It has also been known that the different vehicle from the lean vehicle (for example, the passenger car or the like) executes second automatic action to automatically start or accelerate the vehicle in the case where it is determined that there is a necessity to start the vehicle in a state where the vehicle has been brought to a stop, or in the case where it is determined that there is a necessity to accelerate the vehicle in a process of bringing the vehicle to the stop. A posture of the lean vehicle becomes extremely unstable with a reduction in the vehicle speed. When at least one of the first automatic action and the second automatic action is executed in the lean vehicle, a rider has to perform an operation for such action while stabilizing the posture of the lean vehicle. For this reason, when at least one of the first automatic action and the second automatic action is executed in the lean vehicle, the operation for such action has to be simplified for the rider. The invention has been made with the above-described problem as the background and therefore obtains a controller capable of improving assistance performance for a rider. The invention also obtains a control method capable of improving the assistance performance for the rider. Solution to Problem A controller according to the invention is a controller for a rider-assistance system of a lean vehicle, and includes an execution section that executes vehicle speed control action to automatically control a vehicle speed generated to the lean vehicle. The execution section executes at least one of first automatic action to automatically stop the lean vehicle and second automatic action to automatically start or accelerate the lean vehicle. The first automatic action is action that is executed in the case where it is determined that there is a necessity to stop the traveling lean vehicle in an executed state of the vehicle speed control action. The second automatic action is action that is executed in the case where it is determined that there is a necessity to start the lean vehicle in a state where the lean vehicle has been brought to a stop, or in the case where it is determined that there is a necessity to accelerate the lean vehicle in a process of bringing the lean vehicle to the stop. The execution section executes at least one of the actions on the basis of operation state information, which is information on an operation state by a rider, in a second state where a reference section of an accelerator grip is located within a second angle range that is located in a second direction opposite from a first direction with a reference angle being a reference. The reference section of the accelerator grip is located at the reference angle in an unloaded state by the rider of the lean vehicle, and the accelerator grip causes a change in drive power generated to the lean vehicle when being rotated in a first state where the reference section is located within a first angle range that is located in the first direction with the reference angle being the reference. A control method according to the invention is a control method for a rider-assistance system of a lean vehicle, and includes: executing vehicle speed control action by an execution section of a controller, in the vehicle speed control action, a vehicle speed generated to the lean vehicle being automatically controlled; and executing at least one of first automatic action and second automatic action by the execution section, in the first automatic action, the lean vehicle being automatically stopped, and in the second automatic action, the lean vehicle being automatically started or accelerated. The first automatic action is action that is executed in the case where it is determined that there is a necessity to stop the traveling lean vehicle in an executed state of the vehicle speed control action. The second automatic action is action that is executed in the case where it is determined that there is a necessity to start the lean vehicle in a state where the lean vehicle has been brought to a stop, or in the case where it is determined that there is a necessity to accelerate the lean vehicle in a process of