JP2022170770A - Processing device for discriminating presence/absence of occurrence of accident of leaning vehicle, and method - Google Patents

Abstract

To obtain a processing device for discriminating presence/absence of occurrence of an accident of a leaning vehicle while suppressing complication, and also to obtain a method for discriminating presence/absence of occurrence of an accident of a leaning vehicle while suppressing complication.SOLUTION: A processing device (20) for discriminating presence/absence of occurrence of an accident of a leaning vehicle (100) includes: an execution section for executing a rider support operation, during traveling of the leaning vehicle (100), based on information to be detected by at least one of a first peripheral environment sensor (11c) mounted on the leaning vehicle (100) in a state facing the right side of the leaning vehicle (100) and a second peripheral environment sensor (11d) mounted on the leaning vehicle (100) in a state facing the left side of the leaning vehicle (100); and a discrimination section for discriminating presence/absence of occurrence of an accident based on an output of at least one of the first peripheral environment sensor (11c) and the second peripheral environment sensor (11d).SELECTED DRAWING: Figure 1

Description

The present invention relates to a processing device for determining whether or not a lean vehicle accident has occurred, and a method for determining whether or not a lean vehicle accident has occurred.

Some conventional lean vehicles are equipped with ambient environment sensors. Based on the information detected by the ambient environment sensor, a rider assist operation is performed to assist the rider in driving the lean vehicle (for example, Patent Document 1).

JP 2009-116882 A

Lean vehicles are prone to accidents due to their instability compared to other vehicles (eg, cars, trucks, etc.). Therefore, it is desired to establish a technique for determining whether or not an accident has occurred. On the other hand, in lean vehicles, due to their smaller size compared to other vehicles, it is desirable to implement such technology while reducing complexity.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a processing apparatus capable of determining whether or not a lean vehicle accident has occurred while suppressing complication. Also, a method is obtained that can determine whether or not an accident has occurred in a lean vehicle while suppressing complication.

A processing device according to the present invention is a processing device for determining whether or not an accident has occurred in a lean vehicle, and is mounted on the lean vehicle in a state facing rightward of the lean vehicle while the lean vehicle is traveling. Based on information detected by at least one of a first ambient environment sensor and a second ambient environment sensor mounted on the lean vehicle in a state in which the lean vehicle faces left, an execution unit that executes a rider assist operation for assisting driving of the vehicle; and a determination unit that determines whether or not the accident has occurred based on the output of at least one of the first ambient environment sensor and the second ambient environment sensor. , is equipped with

A method according to the present invention is a method for determining whether or not an accident has occurred in a lean vehicle. Based on information detected by at least one of a first ambient environment sensor mounted on the vehicle and a second ambient environment sensor mounted on the lean vehicle in a state in which the lean vehicle faces leftward, the lean vehicle an execution step of executing a rider assist operation for assisting a rider in driving the lean vehicle; and a determination step of determining whether or not the accident has occurred.

In the processing device and method according to the present invention, the determining unit performs a rider assist operation for assisting the rider in lean vehicle driving based on the output of at least one of the first ambient environment sensor and the second ambient environment sensor. In other words, it is determined whether or not an accident has occurred in the lean vehicle by using an existing sensor provided for a rider assist operation that assists the rider in driving the lean vehicle. Therefore, it is possible to determine whether or not an accident has occurred in a lean vehicle while suppressing complication.

1 is a diagram showing a state in which a rider support system according to an embodiment of the present invention is mounted on a lean vehicle; FIG. 1 is a diagram showing a system configuration of a rider support system according to an embodiment of the invention; FIG. It is a figure which shows the operation|movement flow of the processing apparatus of the rider assistance system which concerns on embodiment of this invention.

The processing apparatus and method according to the present invention will be described below with reference to the drawings.

Note that the configurations, operations, and the like described below are examples, and the processing apparatus and method according to the present invention are not limited to such configurations, operations, and the like.

For example, although the processing apparatus and method according to the present invention are described below as being used in a rider support system for a motorcycle, the processing apparatus and method according to the present invention can be applied to lean vehicles other than motorcycles. rider assistance system. A lean vehicle means a vehicle that leans to the right when turning to the right and leans to the left when turning to the left. Lean vehicles include, for example, motorcycles (motorcycles and tricycles), bicycles, and the like. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, and the like. Motorcycles include, for example, motorcycles, scooters, electric scooters, and the like. By bicycle is meant a vehicle that can be propelled on the road by a rider's force applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, electric bicycles, and the like.

Also, the same or similar descriptions are appropriately simplified or omitted below. Moreover, in each figure, the same or similar parts are given the same reference numerals or the reference numerals are omitted. In addition, detailed structures are simplified or omitted as appropriate.

Embodiment.
A rider support system according to an embodiment will be described below.

<Configuration of rider support system>
A configuration of a rider support system according to an embodiment will be described.
FIG. 1 is a diagram showing a state in which a rider support system according to an embodiment of the present invention is mounted on a lean vehicle. FIG. 2 is a diagram showing the system configuration of the rider support system according to the embodiment of the invention.

As shown in FIGS. 1 and 2, the rider assistance system 1 is mounted on a lean vehicle 100. FIG. The rider support system 1 includes a surrounding environment sensor 11a that detects surrounding environment information in front of the lean vehicle 100, a surrounding environment sensor 11b that detects surrounding environment information behind the lean vehicle 100, and surrounding environment information to the right of the lean vehicle 100. and at least one of a surrounding environment sensor 11c that detects the surrounding environment information on the left side of the lean vehicle 100, a vehicle behavior sensor 12 that detects vehicle behavior information of the lean vehicle 100, and a processing device. 20 and. The ambient environment sensor 11c corresponds to the "first ambient environment sensor" in the present invention. The ambient environment sensor 11d corresponds to the "second ambient environment sensor" in the present invention.

In the rider assistance system 1 , the processing device 20 uses the detected ambient environment information to perform a rider assistance operation for assisting the lean vehicle 100 driving by the rider of the lean vehicle 100 . The processing device 20 also receives the detection results of various sensors (not shown) for detecting other information (for example, information on the state of brake operation by the rider, information on the state of accelerator operation by the rider, etc.) as necessary. be done. Each part of the rider support system 1 may be used exclusively for the rider support system 1, or may be shared with other systems.

Surrounding environment sensors 11a, 11b, 11c, and 11d collect information (for example, relative position, relative distance, relative velocity, relative ) may be detected, and the characteristics of the subject located around the lean vehicle 100 (for example, the type of the subject, the shape of the subject itself, the marks attached to the subject, etc.) may be detected. It may be one that detects. Each of the ambient environment sensors 11a, 11b, 11c, and 11d is, for example, a radar, lidar sensor, ultrasonic sensor, camera, or the like.

The ambient environment sensor 11 a is provided in the front portion of the lean vehicle 100 and directed forward of the lean vehicle 100 . The ambient environment sensor 11b is provided at the rear portion of the lean vehicle 100 and directed toward the rear of the lean vehicle 100. As shown in FIG. The ambient environment sensor 11c is provided on the side of the lean vehicle 100 and directed to the right of the lean vehicle 100. As shown in FIG. The ambient environment sensor 11d is provided on the side of the lean vehicle 100 and directed to the left of the lean vehicle 100. As shown in FIG. The direction in which the ambient environment sensor 11c and the ambient environment sensor 11d are directed may be parallel to the vehicle width direction of the lean vehicle 100 when the lean vehicle 100 is viewed from above, or may be in the vehicle width direction. may be shifted forward by a predetermined angle with respect to the vehicle width direction, or may be shifted rearward by a predetermined angle with respect to the vehicle width direction. In addition, the directions in which the ambient environment sensors 11c and 11d are directed may be parallel to the vehicle width direction of the lean vehicle 100 when the lean vehicle 100 is viewed from the rear. It may be shifted downward by a predetermined angle with respect to the width direction, or may be shifted upward by a predetermined angle with respect to the vehicle width direction.

The vehicle behavior sensor 12 detects vehicle behavior information of the lean vehicle 100 . The vehicle behavior sensor 12 is, for example, a vehicle speed sensor, an inertial sensor (IMU), or the like. The vehicle speed sensor detects the vehicle speed occurring in the lean vehicle 100 . The vehicle speed sensor may detect another physical quantity substantially convertible to the vehicle speed occurring in lean vehicle 100 . The inertial sensor detects three-axis acceleration and three-axis (roll angle, pitch angle, yaw angle) angular velocities occurring in the lean vehicle 100 . The inertial sensor may detect other physical quantities substantially convertible into three-axis acceleration and three-axis angular velocity occurring in the lean vehicle 100 . Alternatively, the inertial sensor may detect part of the triaxial acceleration and triaxial angular velocity.

The processing device 20 includes at least an execution unit 21 , a determination unit 22 and a storage unit 23 . All or each part of the processing device 20 may be collectively provided in one housing, or may be divided and provided in a plurality of housings. In addition, all or each part of the processing device 20 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, or may be configured by an updatable device such as firmware, or may be configured by a command from the CPU or the like. It may be a program module or the like to be executed.

The execution unit 21 assists the rider of the lean vehicle 100 in driving the lean vehicle 100 based on information detected by various sensors, particularly information detected by at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. Executes a rider assist operation.

For example, the execution unit 21 determines whether or not there is a traveling vehicle positioned in the rider's blind spot of the lean vehicle 100 based on information detected by at least one of the surrounding environment sensors 11c and 11d. When it is determined that there is such a vehicle, the execution unit 21 outputs a control command to the notification device 30 to notify the rider of the presence of the vehicle in the blind spot.

For example, the execution unit 21 determines whether or not there is a possibility of a collision occurring in the lean vehicle 100 based on information detected by at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. When it is determined that there is a possibility of a collision, the execution unit 21 outputs a control command to the notification device 30 to notify the rider of the possibility of a collision. take action to reduce the likelihood of collisions occurring in

For example, the execution unit 21 determines whether or not there is a possibility of a collision occurring in the lean vehicle 100 based on information detected by at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. When the determination result that there is a possibility of collision is obtained, the execution unit 21 outputs a control command to a vehicle behavior control device (for example, a brake control device, an engine control device, etc.) 40 provided in the lean vehicle 100. Then, an operation for automatically decelerating or accelerating the lean vehicle 100 , that is, an operation for reducing the possibility of a collision occurring in the lean vehicle 100 is performed.

For example, the execution unit 21 executes based on information detected by at least one of the ambient environment sensors 11c and 11d, and based on information detected by at least one of the ambient environment sensors 11a and 11b. change the automatic speed control operation (eg, adaptive cruise operation, emergency deceleration operation, etc.). The execution unit 21 determines the type of the running environment of the lean vehicle 100 (for example, passing between trains, group riding, etc.) based on information detected by at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. Then, the automatic speed control operation corresponding to the type is executed.

Note that the notification device 30 may be one that notifies by sound, may be one that notifies by display or lighting, or one that notifies by vibration. It may be a combination. The execution unit 21 may output a control command to the vehicle behavior control device 40 to instantaneously cause the lean vehicle 100 to automatically decelerate or accelerate, thereby providing vibration notification. In such a case, vehicle behavior control device 40 functions as notification device 30 . The notification device 30 may be provided in the lean vehicle 100, or may be provided in equipment associated with the lean vehicle 100 (for example, a helmet, gloves, etc.).

The determination unit 22 determines whether or not an accident has occurred in the lean vehicle 100 based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. When an accident occurs in the lean vehicle 100, the lean vehicle 100 overturns, and one of the ambient environment sensor 11c and the ambient environment sensor 11d points downward, and one of the ambient environment sensor 11c and the ambient environment sensor 11d points upward. often become. The determination unit 22 determines whether or not an accident has occurred in the lean vehicle 100 by determining whether or not such an overturn has occurred based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d.

For example, the determination unit 22 determines whether or not information indicating that an object exists at a distance below the lower limit value of one of the surrounding environment sensors 11c and 11d is detected, and whether or not the lean vehicle 100 is in an accident. Determine whether or not it has occurred. When an accident occurs, the lean vehicle 100 may overturn with one of the surrounding environment sensors 11c and 11d approaching the ground. In such a case, depending on the detection principle, information indicating the presence of an object at a distance below the lower limit may be detected. An accident occurs in the lean vehicle 100 when the discriminating unit 22 continues to detect information indicating that an object exists at a distance below the lower limit of one of the surrounding environment sensors 11c and 11d beyond the reference time. It is preferable to obtain a determination result that

For example, the determination unit 22 determines whether or not an accident has occurred in the lean vehicle 100 based on the determination of the presence or absence of an object detected by one of the surrounding environment sensors 11c and 11d. When an accident occurs, the lean vehicle 100 may overturn with one of the surrounding environment sensors 11c and 11d approaching the ground. In such a case, depending on the detection principle, it may be impossible to detect the object. The determination unit 22 may obtain a determination result that an accident has occurred in the lean vehicle 100 when one of the ambient environment sensors 11c and 11d keeps denying the presence or absence of an object beyond the reference time.

For example, in addition to or instead of one of the ambient environment sensor 11c and the ambient environment sensor 11d, the determining unit 22 determines whether there is an object detected by the other of the ambient environment sensor 11c and the ambient environment sensor 11d. It is determined whether or not an accident has occurred in the lean vehicle 100 . When an accident occurs, the lean vehicle 100 overturns with one of the ambient environment sensors 11c and 11d approaching the ground and the other of the ambient environment sensors 11c and 11d facing the sky. Sometimes. In such a case, depending on the detection principle, the other of the ambient environment sensor 11c and the ambient environment sensor 11d may not be able to detect the object. The determination unit 22 may obtain a determination result that an accident has occurred in the lean vehicle 100 when the other of the ambient environment sensors 11c and 11d continues to deny the presence or absence of an object beyond the reference time. Note that when the lean vehicle 100 falls in such a posture in a tunnel or the like, for example, the other of the ambient environment sensors 11c and 11d may be able to detect the object. Therefore, the determination unit 22 may determine whether or not an accident has occurred in the lean vehicle 100 based on the output of only one of the ambient environment sensor 11c and the ambient environment sensor 11d.

The determination unit 22 may determine whether or not an accident has occurred in the lean vehicle 100 based on the vehicle behavior information of the lean vehicle 100 in addition to the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d.

For example, the determining unit 22 confirms that the determination of the presence or absence of overturn based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d is affirmative, and the vehicle speed sensor as the vehicle behavior sensor 12 indicates that the vehicle speed is below the lower limit value. or information indicating that the vehicle speed is zero by the vehicle speed sensor as the vehicle behavior sensor 12, a determination result that an accident has occurred in the lean vehicle 100 is obtained.

For example, the determining unit 22 determines that the determination of the presence or absence of overturning based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d is affirmative, and the inertial sensor as the vehicle behavior sensor 12 detects the absolute value of the roll angle of the vehicle body. is above the upper limit value, a determination result is obtained that an accident has occurred in the lean vehicle 100 .

For example, the determining unit 22 determines that the determination of the presence or absence of overturning based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d is affirmative, and the inertial sensor as the vehicle behavior sensor 12 detects the absolute value of the roll angle of the vehicle body. is above the upper limit, and the inertia sensor as the vehicle behavior sensor 12 continues to detect information indicating that the absolute value of the angular velocity of the roll angle of the vehicle body is below the lower limit. When the detection continues over time, a determination result that an accident has occurred in the lean vehicle 100 is obtained. If the inertial sensor as the vehicle behavior sensor 12 detects information indicating that the absolute value of the roll angle of the vehicle body increases at an angular velocity exceeding the upper limit value, the determination unit 22 determines whether an accident has occurred in the lean vehicle 100. should be performed.

For example, the determining unit 22 determines that the determination of the presence or absence of overturn based on the output of at least one of the surrounding environment sensor 11c and the surrounding environment sensor 11d is affirmative, and the inertia sensor serving as the vehicle behavior sensor 12 indicates that the acceleration in the longitudinal direction of the vehicle body is the lower limit. The information indicating that the jerk in the longitudinal direction of the vehicle body is below the lower limit continues to be detected beyond the reference time, and the inertia sensor serving as the vehicle behavior sensor 12 detects information indicating that the jerk in the longitudinal direction of the vehicle body is below the lower limit beyond the reference time. If the lean vehicle 100 continues to be leaned, it is determined that an accident has occurred in the lean vehicle 100.例文帳に追加The determining unit 22 determines that the inertia sensor as the vehicle behavior sensor 12 detects information indicating that the deceleration of the vehicle speed increases with an acceleration exceeding the upper limit value, and the inertia sensor as the vehicle behavior sensor 12 detects the vehicle speed decrease. When information indicating that the speed exceeds the upper limit value is detected, it is preferable to determine whether or not an accident has occurred in lean vehicle 100 .

As the vehicle behavior information, for example, the acceleration in the width direction of the vehicle body, the angular velocity of the yaw angle of the vehicle body, the angular velocity of the pitch angle of the vehicle body, etc. may be used, and similar determination may be made.

The storage unit 23 stores time information as an operation for coping with the occurrence of an accident. For example, when the determination result that an accident has occurred is obtained in the determination unit 22, the storage unit 23 stores the time at that time and various sensors (for example, the surrounding environment sensors 11a, 11b, 11c, and 11d, vehicle behavior The information indicating the occurrence of an accident is stored together with the detection result of the sensor 12, etc.).

It is preferable that execution unit 21 can execute an operation of stopping the power source of lean vehicle 100 as an operation for coping with the occurrence of an accident. For example, when the determining unit 22 obtains a determination result that an accident has occurred, the execution unit 21 outputs a control command to the kill switch 50 provided in the lean vehicle 100 so that the power source of the lean vehicle 100 (for example, , engine, electric motor, etc.).

It is preferable that the execution unit 21 can execute an operation of notifying other vehicles of the occurrence of the accident as an operation for coping with the occurrence of the accident. For example, when the determining unit 22 determines that an accident has occurred, the execution unit 21 outputs a control command to the indicator lamp 60 provided in the lean vehicle 100 to turn on the hazard lamp of the lean vehicle 100. perform the action that causes it to For example, when the determining unit 22 determines that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to to output a signal to notify other vehicles of the occurrence of an accident. For example, when the determining unit 22 obtains a determination result that an accident has occurred, the executing unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100, and outputs the control command to another vehicle registered in advance. Output a signal to notify the occurrence of an accident.

It is preferable that the execution unit 21 can execute an operation of notifying the relief facility of the occurrence of the accident as an operation for coping with the occurrence of the accident. For example, when the determining unit 22 determines that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to notify the relief facility of the accident. Output a signal to notify.

It is preferable that the execution unit 21 can execute an operation of notifying the repair facility for the lean vehicle 100 of the occurrence of the accident as an operation for coping with the occurrence of the accident. For example, when the determining unit 22 determines that an accident has occurred, the execution unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to send the vehicle to a repair facility for the lean vehicle 100. Output a signal to notify the occurrence of an accident.

It is preferable that the execution unit 21 can execute an operation of notifying the mobile wireless terminal of the occurrence of an accident as an operation for coping with the occurrence of the accident. For example, when the determining unit 22 obtains a determination result indicating that an accident has occurred, the executing unit 21 outputs a control command to the wireless communication device 70 provided in the lean vehicle 100 to The radio terminal is caused to output a signal to notify the occurrence of an accident. The occurrence of an accident may be notified to, for example, a relief facility, a repair facility for the lean vehicle 100, a pre-registered emergency contact, or the like, by the automatic communication function of the portable wireless terminal.

<Operation of rider support system>
The operation of the rider support system according to the embodiment will be described.
FIG. 3 is a diagram showing the operation flow of the processing device of the rider support system according to the embodiment of the invention.

The processing device 20 executes the operation flow shown in FIG. Note that FIG. 3 shows a case where it is determined whether or not an accident has occurred in the lean vehicle 100 while the rider support operation is being performed. Whether or not 100 accidents have occurred may be determined. Also, only some of the steps may be performed, and other steps may be added as appropriate.

(execution step)
In step S101, the execution unit 21 of the processing device 20 controls the surrounding environment sensors 11a, 11b, 11c, and 11d mounted on the lean vehicle 100 while the lean vehicle 100 is running. Based on the information detected by at least one, a rider assistance operation for assisting the lean vehicle 100 in driving the lean vehicle 100 by the rider of the lean vehicle 100 is performed.

(Discrimination step)
In step S102, the determination unit 22 of the processing device 20 determines whether or not an accident has occurred in the lean vehicle 100 based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d mounted on the lean vehicle 100. . If it is determined that an accident has occurred, the process proceeds to step S103, and if it is determined that an accident has not occurred, the process returns to step S101.

(Response step)
In step S103, each part (for example, the storage part 23, the execution part 21, etc.) of the processing device 20 executes an operation for coping with the occurrence of the accident.

<Effect of rider support system>
Effects of the rider support system according to the embodiment will be described.

In the rider assistance system 1, the determination unit 22 of the processing device 20 performs a rider assistance operation for assisting the rider in driving the lean vehicle 100 based on the output of at least one of the ambient environment sensor 11c and the ambient environment sensor 11d. In other words, it is determined whether or not an accident has occurred in the lean vehicle 100 by using an existing sensor provided for a rider assist operation that assists the rider in driving the lean vehicle 100 . Therefore, it is possible to determine whether or not an accident has occurred in the lean vehicle 100 while suppressing complication.

Preferably, the determination unit 22 determines whether an accident has occurred based on the vehicle behavior information of the lean vehicle 100 . With such a configuration, it is possible to accurately determine whether or not an accident has occurred in the lean vehicle 100 .

Embodiments of the present invention are not limited to the above description. That is, the present invention includes modifications of the embodiments described above. Moreover, the present invention includes forms in which only a part of the embodiments described above are implemented.

1 rider support system 11a, 11b, 11c, 11d ambient environment sensor 12 vehicle behavior sensor 20 processing device 21 execution unit 22 determination unit 23 storage unit 30 notification device 40 vehicle behavior control device 50 kill switch , 60 indicator light, 70 wireless communication device, 100 lean vehicle.

Claims (15)

A processing device (20) for determining whether or not an accident has occurred in a lean vehicle (100),
A first ambient environment sensor (11c) mounted on the lean vehicle (100) facing rightward of the lean vehicle (100) while the lean vehicle (100) is traveling; ) is directed to the left of the lean vehicle (100), based on information detected by at least one of the second ambient environment sensors (11d) mounted on the lean vehicle (100), the rider of the lean vehicle (100) controls the lean vehicle. an execution unit (21) for executing a rider assist operation for assisting the driving of (100);
a determination unit (22) that determines whether or not the accident has occurred based on the output of at least one of the first ambient environment sensor (11c) and the second ambient environment sensor (11d);
is equipped with
A processor (20). The determination unit (22) determines whether information indicating that an object exists at a distance below the lower limit value of one of the first ambient environment sensor (11c) and the second ambient environment sensor (11d) is detected. Determining whether or not the accident has occurred based on the determination,
A processor (20) according to claim 1. The determination unit (22) determines whether or not the accident has occurred based on determination of whether or not there is an object detected by one of the first ambient environment sensor (11c) and the second ambient environment sensor (11d). discriminate,
A processor (20) according to claim 1. The determination unit (22) determines whether or not the accident has occurred based on the determination of whether or not there is an object detected by the other of the first ambient environment sensor (11c) and the second ambient environment sensor (11d). discriminate,
A processing unit (20) according to claim 2 or 3. The discrimination unit (22) discriminates whether or not the accident has occurred based on whether the result of the determination remains the same over a reference time.
A processing unit (20) according to any one of claims 2-4. The determination unit (22) determines whether or not the accident has occurred based on vehicle behavior information of the lean vehicle (100).
A processing device (20) according to any one of the preceding claims. A storage unit (23) that stores the occurrence of the accident together with time information,
A processing unit (20) according to any one of the preceding claims. The execution unit (21) further executes an operation of stopping the power source of the lean vehicle (100).
A processing device (20) according to any one of the preceding claims. The execution unit (21) further executes an operation of notifying another vehicle of the occurrence of the accident.
A processing device (20) according to any one of the preceding claims. The execution unit (21) further executes an operation of notifying a relief facility of the occurrence of the accident.
A processing device (20) according to any one of the preceding claims. The execution unit (21) further executes an operation of notifying a repair facility for the lean vehicle (100) of the occurrence of the accident.
A processing device (20) according to any one of the preceding claims. The execution unit (21) further executes an operation of notifying the mobile wireless terminal of the occurrence of the accident.
A processing device (20) according to any one of the preceding claims. The rider assistance operation includes an operation of notifying the rider of the existence of a traveling vehicle positioned in a blind spot.
A processing device (20) according to any one of the preceding claims. the rider assist actions include actions that reduce the likelihood of a collision occurring in the lean vehicle (100);
A processing device (20) according to any one of the preceding claims. A method for determining whether or not an accident has occurred in a lean vehicle (100), comprising:
An execution unit (21) of a processing device (20) detects a first circumference mounted on the lean vehicle (100) while facing the right side of the lean vehicle (100) while the lean vehicle (100) is running. based on information detected by at least one of an environment sensor (11c) and a second ambient environment sensor (11d) mounted on the lean vehicle (100) while the lean vehicle (100) faces leftward; an execution step (S101) of executing a rider assist operation for assisting a rider of the lean vehicle (100) to drive the lean vehicle (100);
A determination unit (22) of the processing device (20) determines whether or not the accident has occurred based on the output of at least one of the first ambient environment sensor (11c) and the second ambient environment sensor (11d). a determination step (S102) to
is equipped with
Method.

Images