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EP-4737244-A1 - CONTROL DEVICE AND CONTROL METHOD FOR RIDER ASSIST SYSTEM

EP4737244A1EP 4737244 A1EP4737244 A1EP 4737244A1EP-4737244-A1

Abstract

The invention obtains a controller and a control method capable of improving assistance performance for a rider. At a first stage of an automatic deceleration process that is a process to automatically decelerate a traveling own vehicle and cause the own vehicle to stop or slow down in a state where there is a diagonally forward vehicle as another straddle-type vehicle located diagonally ahead of the own vehicle and traveling with the own vehicle in a group but there is no other straddle-type vehicle located in front of the own vehicle and traveling with the own vehicle in the group, an execution section executes action to adjust a positional relationship between the own vehicle and the diagonally forward vehicle, and such action is based on actual measured information on the positional relationship actually measured at the first stage. Then, at a second stage after the first stage of the automatic deceleration process, the execution section does not execute the action to adjust the positional relationship between the own vehicle and the diagonally forward vehicle, and such action is based on actual measured information on a positional relationship actually measured at the second stage.

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), the controller comprising: an acquisition section (21) that acquires positional relationship information as actual measured information on a positional relationship between an own vehicle (100) and a target (T) during travel of the own vehicle (100) in an enabled state of a group travel mode as a mode in which plural straddle-type vehicles (300) including the own vehicle (100) travel in a group; and an execution section (22) that executes positional relationship adjustment action as action to adjust the positional relationship between the own vehicle (100) and the target (T) on the basis of the positional relationship information acquired by the acquisition section (21), wherein at a first stage of an automatic deceleration process that is a process to automatically decelerate the traveling own vehicle (100) and cause the own vehicle (100) to stop or slow down in a state where there is a diagonally forward vehicle (FD) as another straddle-type vehicle (300A) that is located diagonally ahead of the own vehicle (100) and travels with the own vehicle (100) in the group but there is no other straddle-type vehicle (300A) that is located in front of the own vehicle (100) and travels with the own vehicle (100) in the group, the execution section (22) executes, as the positional relationship adjustment action, action to adjust a positional relationship between the own vehicle (100) and the diagonally forward vehicle (FD) as the target (T), and such action is based on positional relationship information actually measured at the first stage, at a second stage after the first stage of the automatic deceleration process, the execution section (22) does not execute, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle (100) and the diagonally forward vehicle (FD) as the target (T) on the basis of the positional relationship information actually measured at the second stage.
  2. The controller according to claim 1, wherein at the second stage, the execution section (22) executes, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle (100) and the target (T) differing from the diagonally forward vehicle (FD), and such action is based on the positional relationship information actually measured at the second stage.
  3. The controller according to claim 2, wherein at the second stage, the execution section (22) executes, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle (100) and a rear vehicle (B) as the target (T) that is another straddle-type vehicle (300A) located behind the own vehicle (100) and traveling with the own vehicle (100) in the group, and such action is based on the positional relationship information actually measured at the second stage.
  4. The controller according to claim 2, wherein at the second stage, the execution section (22) executes, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle (100) and the target (T) that exists in front of the own vehicle (100), and such action is based on the positional relationship information actually measured at the second stage.
  5. The controller according to claim 1, wherein at the second stage, the execution section (22) does not execute, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle (100) and the target (T), and such action is based on the positional relationship information actually measured at the second stage.
  6. The controller according to claim 5, wherein at the second stage, the execution section (22) executes vehicle speed control action on the basis of travel state information of the own vehicle (100) actually measured at the first stage, the vehicle speed control action being action to automatically control a vehicle speed generated to the own vehicle (100).
  7. The controller according to claim 5, wherein at the second stage, the execution section (22) executes vehicle speed control action on the basis of travel state information of the diagonally forward vehicle (FD) actually measured at the first stage, the vehicle speed control action being action to automatically control a vehicle speed generated to the own vehicle (100).
  8. The controller according to claim 5, wherein at the second stage, the execution section (22) executes vehicle speed control action on the basis of travel state information of a rear vehicle (B) actually measured at the first stage, the vehicle speed control action being action to automatically control a vehicle speed generated to the own vehicle (100), and the rear vehicle (B) being another straddle-type vehicle (300A) that is located behind the own vehicle (100) and travels with the own vehicle (100) in the group.
  9. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of travel state information of the own vehicle (100).
  10. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of travel state information of the diagonally forward vehicle (FD).
  11. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of actual measured information on the positional relationship between the own vehicle (100) and the diagonally forward vehicle (FD).
  12. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of travel state information of a rear vehicle (B), which is another straddle-type vehicle (300A) located behind the own vehicle (100) and traveling with the own vehicle (100) in the group.
  13. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of actual measured information on positional relationship between the own vehicle (100) and a rear vehicle (B), which is another straddle-type vehicle (300A) located behind the own vehicle (100) and traveling with the own vehicle (100) in the group.
  14. The controller according to any one of claims 1 to 8, wherein the execution section (22) determines whether to initiate and/or terminate the second stage on the basis of road facility information.
  15. A control method for a rider-assistance system (1), the control method comprising: acquiring positional relationship information by an acquisition section (21) of a controller (20) during travel of an own vehicle (100) in an enabled state of a group travel mode as a mode in which plural straddle-type vehicles (300) including the own vehicle (100) travel in a group, the positional relationship information being actual measured information on a positional relationship between the own vehicle (100) and a target (T); and executing positional relationship adjustment action by an execution section (22) of the controller (20) on the basis of the positional relationship information acquired by the acquisition section (21), the positional relationship adjustment action being action to adjust the positional relationship between the own vehicle (100) and the target (T), wherein at a first stage of an automatic deceleration process that is a process to automatically decelerate the traveling own vehicle (100) and cause the own vehicle (100) to stop or slow down in a state where there is a diagonally forward vehicle (FD) as another straddle-type vehicle (300A) that is located diagonally ahead of the own vehicle (100) and travels with the own vehicle (100) in the group but there is no other straddle-type vehicle (300A) that is located in front of the own vehicle (100) and travels with the own vehicle (100) in the group, the execution section (22) executes, as the positional relationship adjustment action, action to adjust a positional relationship between the own vehicle (100) and the diagonally forward vehicle (FD) as the target (T), and such action is based on the positional relationship information actually measured at the first stage, and at a second stage after the first stage of the automatic deceleration process, the execution section (22) does not execute, as the positional relationship adjustment action, the action to adjust the positional relationship between the own vehicle (100) and the diagonally forward vehicle (FD) as the target (T), and such action is based on the positional relationship information actually measured at the second stage.

Description

Technical Field The present invention relates to a controller for a rider-assistance system of a straddle-type vehicle and a control method for a rider-assistance system of a straddle-type vehicle. Background Art In one type of conventional rider-assistance systems, a controller executes positional relationship adjustment action that is action to adjust a positional relationship between an own vehicle and a target on the basis of positional relationship information (for example, see PTL 1). The positional relationship information is actual measured information on the positional relationship between the own vehicle and the target and is acquired during travel of the own vehicle. Citation List Patent Literature PTL 1: WO2018/197965A1 Summary of Invention Technical Problem Such a case is assumed that the positional relationship adjustment action is executed by the rider-assistance system in an enabled state of a group travel mode. The group travel mode is a mode in which plural straddle-type vehicles including the own vehicle travel in a group. Even in the case where the positional relationship adjustment action is executed in such a state, it is desired that the controller can automatically decelerate the own vehicle and cause the own vehicle to stop or slow down. Unlike other types of vehicles (such as a passenger car, a truck, and the like), the straddle-type vehicle has a small body size and a great degree of freedom in a travel position. For such reasons, the group travel is possibly made in a special mode (for example, a mode in which the plural straddle-type vehicles travel while forming plural vehicle lines in a single travel lane, or the like). Thus, the controller is required to execute the positional relationship adjustment action that can correspond to a situation where the group travel is made in such a special mode. 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 and includes: an acquisition section that acquires positional relationship information during travel of an own vehicle in an enabled state of a group travel mode as a mode in which plural straddle-type vehicles including the own vehicle travel in a group, the positional relationship information being actual measured information on a positional relationship between the own vehicle and a target; and an execution section that executes positional relationship adjustment action on the basis of the positional relationship information acquired by the acquisition section, the positional relationship adjustment action being action to adjust the positional relationship between the own vehicle and the target. At a first stage of an automatic deceleration process that is a process to automatically decelerate the traveling own vehicle and cause the own vehicle to stop or slow down in a state where there is a diagonally forward vehicle as another straddle-type vehicle that is located diagonally ahead of the own vehicle and travels with the own vehicle in the group but there is no other straddle-type vehicle that is located in front of the own vehicle and travels with the own vehicle in the group, the execution section executes, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle and the diagonally forward vehicle as the target, and such action is based on the positional relationship information actually measured at the first stage. At a second stage after the first stage of the automatic deceleration process, the execution section does not execute, as the positional relationship adjustment action, action to adjust the positional relationship between the own vehicle and the diagonally forward vehicle as the target, and such action is based on the positional relationship information actually measured at the second stage. A control method according to the invention is a control method for a rider-assistance system and includes: acquiring positional relationship information by an acquisition section of a controller during travel of an own vehicle in an enabled state of a group travel mode as a mode in which plural straddle-type vehicles including the own vehicle travel in a group, the positional relationship information being actual measured information on a positional relationship between the own vehicle and a target; and executing positional relationship adjustment action by an execution section of the controller on the basis of the positional relationship information acquired by the acquisition section, the positional relationship adjustment action being action to adjust the positional relationship between the own vehicle and the target. At a first stage of