JP7168431B2 - PROCESSING APPARATUS AND PROCESSING METHOD FOR WARNING SYSTEM FOR Saddle-riding VEHICLE, WARNING SYSTEM FOR Saddle-riding VEHICLE, AND Saddle-riding VEHICLE - Google Patents

Description

The present invention uses an ambient environment detection device provided in a straddle-type vehicle to determine the necessity of a warning operation for a rider and, if necessary, a warning system processing device and a warning system. A processing method, a warning system comprising the processing device, and a saddle-type vehicle comprising the warning system.

As a technology related to straddle-type vehicles, surrounding environment information of the straddle-type vehicle is acquired while the vehicle is running by using an ambient environment detection device provided in the straddle-type vehicle, and depending on the surrounding environment information, the rider is notified. A warning system for warning is known (see, for example, Patent Document 1).

JP 2009-116882 A

In straddle-type vehicles, unlike other vehicles (automobiles, etc.), the rider's body is exposed, and even a trivial trigger can cause a fall. There are many situations in which the surrounding environment should be given warning to the rider. However, if the warning operation is simply executed in all of those phases, the comfort of the rider is impaired.

SUMMARY OF THE INVENTION The present invention has been made against the background of the above problems, and provides a processing apparatus and processing method capable of improving safety and comfort of a rider at the same time. It also provides a warning system comprising the processor. Also, a straddle-type vehicle equipped with the warning system is obtained.

A processing device according to the present invention is a processing device for a warning system of a saddle-ride type vehicle, wherein an output of an ambient environment detection device provided in the saddle-ride type vehicle is detected while the saddle-ride type vehicle is running. an acquisition unit for acquiring ambient environment information according to the above; a judgment unit for judging the necessity of a warning operation to the rider to be caused by the warning system based on the output of the acquisition unit; and the warning operation by the judgment unit and a control unit that causes a notification device to perform the warning operation when it is determined that a warning operation is necessary, and the acquisition unit further comprises an output of an input device operated by the rider, Acquires determination criterion setting information, which is information on the setting state of the criterion for determining the necessity of the warning operation by the rider, and determines whether the warning operation is performed based on the surrounding environment information and the determination criterion setting information. Determine need.

A warning system according to the present invention includes the processing device, the ambient environment detection device, and the input device.

Further, a straddle-type vehicle according to the present invention is equipped with the warning system described above.

Further, a processing method according to the present invention is a processing method for a warning system of a saddle-ride type vehicle, wherein the acquisition unit of the processing device of the warning system detects the saddle-ride type vehicle while the saddle-ride type vehicle is running. an acquisition step of acquiring ambient environment information according to the output of an ambient environment detection device provided in a type vehicle; and a control unit of the processing device for causing a notification device to perform the warning operation when the determination unit determines that the warning operation is necessary. and, in the obtaining step, the obtaining unit further determines the condition set by the rider of the judgment criteria for the necessity of the warning operation according to the output of the input device operated by the rider. Criterion setting information, which is information, is acquired, and in the determination step, the determination unit determines the necessity of the warning operation based on the ambient environment information and the determination criterion setting information.

In the processing device, warning system, straddle-type vehicle, and processing method according to the present invention, the necessity of a warning action is determined by the surrounding environment information and the determination criterion setting information according to the output of the input device operated by the rider. , is determined based on. Therefore, it is possible for the rider to arbitrarily set the surrounding environment in which the rider is warned, and it is possible to improve the rider's safety and comfort at the same time.

FIG. 2 is a diagram showing a mounting state of the warning system according to Embodiment 1 of the present invention on a straddle-type vehicle; BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the system configuration|structure of the warning system which concerns on Embodiment 1 of this invention. It is a figure which shows the operation|movement flow of the processing apparatus of the warning system which concerns on Embodiment 1 of this invention. It is a figure which shows the operation|movement flow of the processing apparatus of the warning system which concerns on Embodiment 2 of this invention.

A processing device, a warning system, a straddle-type vehicle, and a processing method according to the present invention will be described below with reference to the drawings.

It should be noted that the configurations, operations, etc., described below are merely examples, and the processing device, warning system, straddle-type vehicle, and processing method according to the present invention are not limited to such configurations, operations, etc. .

For example, in the following description, the warning system according to the present invention is used in a motorcycle, but the warning system according to the present invention may be used in straddle-type vehicles other than motorcycles. . A straddle-type vehicle means a vehicle in general that a rider rides on. Straddle-type vehicles include motorcycles (motorcycles and tricycles), buggies, and bicycles. Motorcycles include motorcycles or tricycles that use an engine as a propulsion source, motorcycles or tricycles that use a motor as a propulsion source, and include, for example, motorcycles, scooters, and electric scooters. In addition, a bicycle generally means a vehicle that can be propelled on a road by a rider's stepping force applied to 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 code|symbol is attached|subjected about the same or similar part. In addition, detailed structures are simplified or omitted as appropriate.

Embodiment 1.
The warning system according to Embodiment 1 will be described below.

<Configuration of warning system>
The configuration of the warning system according to Embodiment 1 will be described.
FIG. 1 is a diagram showing how a warning system according to Embodiment 1 of the present invention is mounted on a straddle-type vehicle. FIG. 2 is a diagram showing the system configuration of the warning system according to Embodiment 1 of the present invention.

As shown in FIGS. 1 and 2, the warning system 1 is mounted on a straddle-type vehicle 100. FIG. The warning system 1 includes at least an ambient environment detection device 11 that detects the ambient environment in front of the straddle-type vehicle 100, a running state detection device 12 that detects the running state of the straddle-type vehicle 100, and an input operated by the rider. It includes a device 13 , a processing device (ECU) 20 and a notification device 30 .

The warning system 1 uses the surrounding environment detection device 11 to recognize the possibility of a collision in front of the running saddle-type vehicle 100, and uses the notification device 30 to output a warning to the rider. The processing device 20 acquires the output of the ambient environment detection device 11, the output of the driving state detection device 12, and the output of the input device 13, and outputs a control command to the notification device 30. FIG. The processing device 20 also receives outputs from various detection devices (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.). Each part of the warning system 1 may be used exclusively for the warning system 1, or may be shared with other systems.

The ambient environment detection device 11 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, or the like. Always detect. The ambient environment detection device 11 is preferably fixed to a portion of the straddle-type vehicle 100 that does not turn with the bar handle. Note that the object may be an obstacle (for example, a vehicle, a guardrail, a wall, a person, etc.) or a vehicle traveling in the same lane.

The running state detection device 12 is, for example, a wheel speed sensor, an inertia sensor (IMU), or the like, and detects, for example, the speed, acceleration, roll angle, etc. occurring in the straddle-type vehicle 100 while the straddle-type vehicle 100 is running. to detect

The input device 13 is operated by the rider and includes a user interface for the rider to set criteria used in determining the necessity of warning action in the warning system 1 . For the setting, the rider may input a value as a criterion via the user interface, and may input a range as a criterion via the user interface, and may use the user interface to Mode switching may be performed to change the criterion by using. The input device 13 is preferably fixed around the bar handle of the straddle-type vehicle 100 . Further, the input device 13 may be provided in equipment attached to the straddle-type vehicle 100 such as the helmet 101 .

The processing device 20 includes an acquisition unit 21 , a determination unit 22 and a control unit 23 . 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, part or all of the processing device 20 may be configured by, for example, a microcomputer, a microprocessor unit, etc., or may be configured by an updateable device such as firmware. It may be a program module or the like executed by.

While the straddle-type vehicle 100 is running, the acquisition unit 21 acquires ambient environment information, which is information about the surrounding environment in front of the straddle-type vehicle 100 , based on the output of the ambient environment detection device 11 . Further, the acquisition unit 21 acquires running state information, which is information on the running state of the straddle-type vehicle 100 , based on the output of the running state detection device 12 while the straddle-type vehicle 100 is running. Further, based on the output of the input device 13, the acquisition unit 21 acquires determination criterion setting information, which is information on the rider's setting state of the determination criterion for the necessity of the warning operation.

The determining unit 22 identifies the traveling direction of the straddle-type vehicle 100 from the traveling state information acquired by the acquiring unit 21, and determines the possibility of collision located in the traveling direction from the surrounding environment information acquired by the acquiring unit 21. Identify the object to be judged. Then, the determination unit 22 derives the index value I of the collision possibility of the straddle-type vehicle 100 with respect to the object for each specified object. The determination unit 22 determines whether or not the derived index value I exceeds the reference value for each specified object, thereby determining whether or not there is an object with a high collision probability in the traveling direction of the straddle-type vehicle 100. determine whether

The index value I may be the reciprocal of the relative distance Dr of the object with respect to the straddle-type vehicle 100, the relative velocity Vr of the object with respect to the straddle-type vehicle 100, or the straddle-type It may be the relative acceleration Ar of the object with respect to the vehicle 100, or a combination thereof. For example, the index value I is a value defined by Equation 1 or Equation 2 below. Also, for example, the index value I may be the degree of variation of the relative distance Dr in a situation where the reciprocal of the relative distance Dr is large. The degree of change may be the time during which the amount of change in the relative distance Dr is maintained at or below the reference amount, or the amount of change in the relative distance Dr at the reference time. It should be noted that the larger the index value I, the higher the possibility of collision.

Note that the determination unit 22 simply determines the possibility of a collision within the detection range of the surrounding environment detection device 11, that is, in front of the straddle-type vehicle 100, without specifying the traveling direction of the straddle-type vehicle 100. An object to be hit may be identified and a collision probability index value I for that object may be derived. In other words, the "front" in the present invention is defined as the entire detection range of the surrounding environment detection device 11, and the warning operation using the "possibility of collision of the straddle-type vehicle against an object located in front" in the present invention is necessary. Sexuality determination is defined as a concept that includes determination of necessity of warning operation using the possibility of collision of saddle-ride type vehicle 100 with an object located in the traveling direction.

Also, the determination unit 22 sets the determination criterion using the determination criterion setting information acquired by the acquisition unit 21 . Then, the determination unit 22 determines whether or not the driving state information acquired by the acquisition unit 21 satisfies the determination criteria, thereby determining the necessity of the warning operation.

That is, the determination unit 22 determines that there is an object with a high possibility of collision in the traveling direction of the straddle-type vehicle 100 and that the traveling state information acquired by the acquisition unit 21 is the determination criterion setting information acquired by the acquisition unit 21. is satisfied, it is determined that the warning operation is necessary, and if at least one of them is not satisfied, it is determined that the warning operation is not necessary. When the determination unit 22 determines that the warning operation is necessary, the control unit 23 causes the notification device 30 to perform the warning operation.

As an example, the determination criterion setting information includes a lower limit value of the vehicle speed as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines that the vehicle speed occurring in the running straddle-type vehicle 100 exceeds the lower limit value. If it does not fall below the lower limit (that is, the criterion is satisfied), it is determined that a warning operation is necessary, and the vehicle speed occurring in the running straddle-type vehicle 100 falls below the lower limit (that is, the judgment criterion is not satisfied). ), it is determined that the warning operation is unnecessary. The vehicle speed itself may be compared with the limit value, or another physical quantity substantially convertible to the vehicle speed may be compared with the limit value.

As another example, the determination criterion setting information includes an upper limit value of the vehicle speed as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines that the vehicle speed occurring in the running straddle-type vehicle 100 is If the upper limit value is not exceeded (that is, the determination criterion is satisfied), it is determined that a warning operation is necessary, and the vehicle speed occurring in the running straddle-type vehicle 100 exceeds the upper limit value (that is, the determination criterion is satisfied). criteria are not satisfied), it is determined that the warning operation is unnecessary. The vehicle speed itself may be compared with the limit value, or another physical quantity substantially convertible to the vehicle speed may be compared with the limit value.

As another example, the determination criterion setting information includes an upper limit value of deceleration as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines whether the deceleration occurring in the saddle-ride type vehicle 100 during running is determined. If the speed does not exceed the upper limit value (that is, the determination criterion is satisfied), it is determined that a warning operation is necessary, and the deceleration occurring in the running straddle-type vehicle 100 exceeds the upper limit value ( That is, if the judgment criteria are not satisfied), it is judged that the warning operation is unnecessary. The deceleration itself may be compared with the limit value, or another physical quantity substantially convertible to deceleration may be compared with the limit value.

As another example, the determination criterion setting information includes the upper limit value of the roll angle as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines whether the roll angle occurring in the saddle-ride type vehicle 100 during travel is determined. If the angle does not exceed the upper limit (that is, satisfies the criterion), it is determined that a warning operation is necessary, and the roll angle occurring in the running straddle-type vehicle 100 exceeds the upper limit ( That is, if the judgment criteria are not satisfied), it is judged that the warning operation is unnecessary. Note that the roll angle itself may be compared with the limit value, or another physical quantity substantially convertible to the roll angle may be compared with the limit value.

As another example, the determination criterion setting information includes the upper limit value of the deviation angle of the direction of travel from the direction of straight travel as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines that 100 does not exceed the upper limit value (that is, satisfies the criterion), it is determined that a warning operation is necessary, and the saddle-ride type vehicle 100 is If the deviation angle of the direction of travel with respect to the direction of straight travel exceeds the upper limit value (that is, does not satisfy the criterion), it is determined that the warning operation is unnecessary. The deviation angle of the direction of travel from the straight direction may itself be compared with the limit value, or another physical quantity that can be substantially converted to the deviation angle of the direction of travel from the straight direction may be compared with the limit value. . Also, the deviation angle may be obtained based on the map information.

The notification device 30 may warn the rider by sound (that is, perception that the auditory organ is used as a sensory organ), and may also warn the rider by display (that is, perception that the visual organ is used as a sensory organ). It may be a warning, or it may be a warning to the rider by vibration (i.e., a perception in which the tactile organs are used as sense organs), or a combination thereof good. Specifically, the notification device 30 is a speaker, a display, a lamp, a vibrator, or the like, and may be provided in the saddle-ride type vehicle 100, or may be attached to equipment attached to the saddle-ride type vehicle 100, such as the helmet 101. may be provided. Further, the notification device 30 may be composed of one output device, or may be composed of a plurality of output devices of the same type or different types. The plurality of output devices may be provided integrally or may be provided separately.

<Operation of the warning system>
The operation of the warning system according to Embodiment 1 will be described.
FIG. 3 is a diagram showing the operation flow of the processing device of the warning system according to Embodiment 1 of the present invention.

The processing device 20 repeatedly executes the operation flow shown in FIG. 3 while the straddle-type vehicle 100 is running.

(acquisition step)
In step S<b>101 , the acquisition unit 21 acquires ambient environment information according to the output of the ambient environment detection device 11 . Also, the acquisition unit 21 acquires the running state information according to the output of the running state detection device 12 . Further, the acquisition unit 21 acquires determination criterion setting information according to the output of the input device 13 .

(judgment step)
In step S102, the determination unit 22 determines whether or not there is an object with a high collision probability in the traveling direction or ahead of the straddle-type vehicle 100 based on the information acquired in step S101. If Yes, go to step S103, and if No, go back to step S101.

In step S103, the determination unit 22 determines whether or not the driving state information acquired in step S101 satisfies the criteria set using the criteria setting information acquired in step S101. If Yes, go to step S104, and if No, go to step S105.

(control step)
In step S104, the control unit 23 causes the notification device 30 to perform a warning operation, and in step S105, the control unit 23 does not operate the notification device 30. FIG.

In step S105, a warning action that is less perceptible to the rider than the warning action performed in step S104 may be performed. The notification operation should preferably be a notification operation that does not impair the rider's comfort. For example, in step S105, compared to the warning operation executed in step S104, a weaker sound, display, vibration, or the like may be output, or a long-period sound, display, vibration, or the like may be output. Alternatively, a notification action to different sensory organs with low perceptibility may be performed.

<Effect of warning system>
Effects of the warning system according to the first embodiment will be described.
The processing device 20 has an acquisition unit 21 that acquires surrounding environment information according to the output of the surrounding environment detection device 11 while the straddle-type vehicle 100 is traveling, and causes the warning system 1 to generate the warning system 1 based on the output of the acquisition unit 21. A determination unit 22 that determines the necessity of warning operation to the rider, and a control unit 23 that causes the notification device 30 to perform the warning operation when the determination unit 22 determines that the warning operation is necessary. The acquisition unit 21 further acquires determination criterion setting information, which is information on the setting state by the rider of the determination criterion for the necessity of the warning action, according to the output of the input device 13 operated by the rider. determines the necessity of the warning operation based on the ambient environment information and the criterion setting information. Therefore, it is possible for the rider to arbitrarily set the surrounding environment in which the rider is warned, and it is possible to improve the rider's safety and comfort at the same time.

Preferably, the ambient environment information is information about the ambient environment in front of the straddle-type vehicle 100, and the determination unit 22 determines whether the straddle-type vehicle 100 is likely to collide with an object positioned in front of the straddle-type vehicle 100. The index value I is used to determine the need for warning action. Riders tend to pay more attention to the front than to the sides, rear, etc. Therefore, in a collision with an object positioned in front, a situation in which the rider does not need a warning action is likely to occur. Therefore, the above arrangement is particularly useful in the situation of warning of a collision with an object located in front.

In particular, the index value I of the possibility of collision changes according to at least one of the relative distance Dr, the relative velocity Vr, and the relative acceleration Ar of the straddle-type vehicle 100 to an object positioned in front of the straddle-type vehicle 100. value. So configured, the determination of the need for an alert action is ensured.

In particular, the criterion setting information includes information about the lower limit of the vehicle speed, which is set by the rider as a criterion for determining the necessity of the warning operation, and the determination unit 22 detects the vehicle speed occurring in the straddle-type vehicle 100 during running. is less than the lower limit value of the vehicle speed as the determination criterion, it may be determined that the warning operation is unnecessary. In a situation where the vehicle speed is low, that is, in a situation where it is easy for the rider to avoid an object positioned ahead, the rider tends to perceive the necessity of the warning action differently. Therefore, by allowing the rider to set the lower limit value of the vehicle speed at which the warning operation is executed, the comfort of the rider is particularly promoted.

In particular, the determination criterion setting information includes information about the upper limit value of deceleration set by the rider as a criterion for determining the necessity of warning operation, and the determination unit 22 is generated in the straddle-type vehicle 100 that is running. In a state in which the deceleration exceeds the deceleration upper limit value as the determination criterion, it may be determined that the warning operation is unnecessary. In a situation where deceleration occurs to some extent, that is, in a situation where the rider is likely to avoid an object positioned ahead, the rider tends to perceive the necessity of the warning action differently. Therefore, by allowing the rider to set the upper limit of deceleration at which the warning operation is executed, the comfort of the rider is particularly promoted.

Preferably, the criterion setting information includes information about an upper limit value of vehicle speed set by the rider as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines whether the straddle-type vehicle 100 is running. In a state in which the vehicle speed exceeds the upper limit value of the vehicle speed as the determination standard, it is determined that the warning operation is unnecessary. In a situation where the vehicle speed is high, that is, in a situation where the rider's concentration on driving increases, the necessity of the warning operation tends to be perceived differently by each rider. Therefore, by allowing the rider to set the upper limit of the vehicle speed at which the warning operation is executed, the comfort of the rider is particularly promoted.

Preferably, the criterion setting information includes information about the upper limit value of the roll angle, which is set by the rider as a criterion for determining the necessity of the warning operation, and the determination unit 22 determines whether the straddle-type vehicle 100 is running. In a state in which the current roll angle exceeds the upper limit value of the roll angle as the determination reference, it is determined that the warning operation is unnecessary. In a situation where the roll angle is large, that is, in a situation where the rider's concentration on driving increases, the necessity of the warning action tends to be perceived differently by each rider. Therefore, by allowing the rider to set the upper limit of the roll angle at which the warning operation is executed, the comfort of the rider is particularly promoted.

Preferably, the determination criterion setting information includes information about the upper limit value of the deviation angle of the direction of travel from the direction of straight travel, which is set by the rider as the criterion for determining the necessity of the warning operation, and It is determined that the warning operation is unnecessary when the deviation angle occurring in the model vehicle 100 exceeds the upper limit value of the deviation angle as the determination criterion. In a situation in which the deviation angle of the traveling direction from the straight traveling direction is large, that is, in a situation in which the rider's concentration on driving increases, the necessity of the warning operation tends to be perceived differently by each rider. Therefore, by allowing the rider to set the upper limit of the deviation angle at which the warning operation is executed, the comfort of the rider is particularly promoted.

Preferably, the control unit 23 does not operate the notification device 30 when the determination unit 22 determines that the warning operation is unnecessary. Being so configured facilitates increased comfort for the rider.

Preferably, when the determination unit 22 determines that the warning action is not necessary, the control unit 23 causes the notification device 30 to perform a notification action that is less perceptible to the rider than the warning action. With such a configuration, the rider can easily recognize that the warning system 1 is functioning without any problems, and the rider can be given a sense of security.

Embodiment 2.
A warning system according to the second embodiment will be described below.
Note that the warning system according to the second embodiment differs from the warning system according to the first embodiment only in the operation of the determination unit 22 of the processing device 20 . Descriptions that overlap or are similar to those of the warning system according to the first embodiment are appropriately simplified or omitted.

<Configuration of warning system>
A configuration of a warning system according to Embodiment 2 will be described.

The determining unit 22 identifies the traveling direction of the saddle-ride type vehicle 100 from the traveling state information acquired by the acquiring unit 21, and determines the possibility of collision located in the traveling direction from the surrounding environment information acquired by the acquiring unit 21. Identify the object to be done. Note that the determination unit 22 simply determines the possibility of a collision within the detection range of the surrounding environment detection device 11, that is, in front of the straddle-type vehicle 100, without specifying the traveling direction of the straddle-type vehicle 100. You may also specify an object to do. The determination unit 22 derives an index value I of the collision probability of the saddle-ride type vehicle 100 with respect to the specified object whose collision possibility should be determined for each specified object.

Then, the determination unit 22 sets the determination criterion using the determination criterion setting information acquired by the acquisition unit 21 . Here, the determination criterion setting information includes the upper limit value of the index value I of the collision possibility of the straddle-type vehicle 100 . The determination unit 22 determines whether or not the derived index value I exceeds the upper limit value of the index value I as a determination criterion for each specified object, so that the straddle-type vehicle 100 can collide in the traveling direction. determine whether there is an object with high

<Operation of the warning system>
The operation of the warning system according to Embodiment 2 will be described.
FIG. 4 is a diagram showing the operation flow of the processing device of the warning system according to Embodiment 2 of the present invention.

The processing device 20 repeatedly executes the operation flow shown in FIG. 4 while the straddle-type vehicle 100 is running. Note that steps S201, S203, and S204 in the operational flow shown in FIG. 4 are the same as steps S101, S104, and S105 in the operational flow shown in FIG. 3, respectively, and therefore description thereof is omitted.

(judgment step)
In step S202, the determination unit 22 sets the upper limit value of the index value I as a determination standard using the determination standard setting information acquired in step S201. The determination unit 22 determines whether or not the index value I derived for each object based on the information acquired in step S201 exceeds the upper limit of the index value I set as the determination criterion. It is determined whether or not there is an object with a high collision possibility in the traveling direction or ahead of the model vehicle 100 . If Yes, go to step S203; if No, go to step S204.

<Effect of warning system>
Effects of the warning system according to the second embodiment will be described.
Preferably, the ambient environment information is information about the ambient environment in front of the straddle-type vehicle 100, and the determination unit 22 determines whether the straddle-type vehicle 100 is likely to collide with an object positioned in front of the straddle-type vehicle 100. The index value I is used to determine the need for warning action. In particular, the criterion setting information includes information about the upper limit value of the index value I of the possibility of collision, which is set by the rider as a criterion for determining the necessity of the warning operation. In a state in which the index value I of the possibility of collision occurring in the model vehicle 100 exceeds the upper limit value of the index value I of the possibility of collision as a criterion, it may be determined that a warning operation is necessary. With such a configuration, it is possible to cope with the fact that each rider perceives the possibility of collision differently.

Although Embodiments 1 and 2 have been described above, the present invention is not limited to the description of each embodiment. In other words, the present invention includes modifications of the embodiments described above. For example, only a part of each embodiment may be implemented, or all or part of each embodiment may be combined.

Further, for example, in the above, an object located in front of the straddle-type vehicle 100 is recognized using the surrounding environment detection device 11 that detects the surrounding environment in front of the straddle-type vehicle 100, and a warning is given to the object. Although the case where the necessity of operation is determined has been described, the straddle-type vehicle 100 can be detected by using the surrounding environment detection device 11 that detects the surrounding environment in other directions (side, rear, etc.) of the straddle-type vehicle 100 . Objects located in other directions (lateral, rearward, etc.) of . In that case, instead of the index value I of the possibility of collision, if the index value I of the possibility of the saddle-ride type vehicle 100 being hit by an object positioned to the side or rear of the saddle-ride type vehicle 100 is derived. good. For the index value I of the possibility of being hit, the straddle-type vehicle 100 is treated as an object in deriving the index value I of the possibility of collision, and the object is treated as the straddle-type vehicle 100 in deriving the index value I of the possibility of collision. can be easily derived by The upper limit of the index value I of the possibility of being hit may be arbitrarily set by the rider, like the upper limit of the index value I of the possibility of collision described in the second embodiment.

Also, for example, in the first embodiment, the case where step S102 is executed before step S103 has been described above, but step S102 may be executed after step S103. That is, it may be determined whether or not there is an object with a high collision probability only when a determination criterion arbitrarily set by the rider is satisfied.

1 warning system, 11 ambient environment detection device, 12 driving state detection device, 13 input device, 20 processing device, 21 acquisition unit, 22 determination unit, 23 control unit, 30 notification device, 100 straddle-type vehicle, 101 helmet.

Claims (15)

A processor (20) for a warning system (1) of a straddled vehicle (100), comprising:
an acquisition unit (21) for acquiring surrounding environment information according to an output of a surrounding environment detection device (11) provided in the straddle-type vehicle (100) while the straddle-type vehicle (100) is running; ,
a determination unit (22) that determines, based on the output of the acquisition unit (21), whether the warning system (1) needs to issue a warning to the rider;
a control unit (23) for causing a notification device (30) to perform the warning operation when the determination unit (22) determines that the warning operation is necessary;
and
The acquisition unit (21) further includes determination criterion setting information, which is information on a setting state by the rider of the determination criterion of the necessity of the warning operation according to the output of the input device (13) operated by the rider. and get
The determination unit (22) determines the necessity of the warning operation based on the ambient environment information and the determination criterion setting information.
A processor (20). The surrounding environment information is information of the surrounding environment in front of the straddle-type vehicle (100),
The determination unit (22) uses the index value (I) of the possibility of collision of the saddle-type vehicle (100) with an object positioned in front of the saddle-type vehicle (100) to determine whether the warning operation is necessary. to determine gender
A processor (20) according to claim 1. The criterion setting information includes information about a lower limit of vehicle speed set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary in a state in which the vehicle speed occurring in the running straddle-type vehicle (100) is below the lower limit value of the vehicle speed as the determination reference. ,
A processor (20) according to claim 2. The criterion setting information includes information about an upper limit value of deceleration set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary in a state in which the deceleration occurring in the saddle-riding vehicle (100) during travel exceeds the upper limit value of the deceleration as the determination criterion. judge,
A processing unit (20) according to claim 2 or 3. The criterion setting information includes information on the upper limit value of the index value (I) set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) determines whether the index value (I) of the possibility of collision occurring in the running saddle-type vehicle (100) is greater than the index value (I) of the possibility of collision as the criterion. Determining that the warning action is necessary in a state exceeding the upper limit;
A processing unit (20) according to any one of claims 2-4. The surrounding environment information is information of the surrounding environment to the side or rear of the straddle-type vehicle (100),
The determination criterion setting information is set by the rider as a criterion for determining the necessity of the warning operation, and the saddle-ride type vehicle (100) is detected by an object positioned to the side or rear of the saddle-ride type vehicle (100). including information on the upper limit value of the index value (I) of the possibility of collision of
The determination unit (22) determines that the index value (I) of the possibility of collision occurring in the saddle-ride type vehicle (100) during travel is the index value (I) of the possibility of collision as the determination criterion. 2. The processor (20) according to claim 1 , wherein said warning action is determined to be necessary in a condition in which the upper limit of ) is exceeded. The index value (I) is a value that changes according to at least one of a relative distance (Dr), a relative velocity (Vr), and a relative acceleration (Ar) of the straddle-type vehicle (100) to the object. ,
A processing device (20) according to any one of claims 2-6. The criterion setting information includes information on an upper limit value of vehicle speed set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary in a state in which the vehicle speed occurring in the running saddle-ride type vehicle (100) exceeds the upper limit value of the vehicle speed as the determination reference. ,
A processing device (20) according to any one of the preceding claims. The criterion setting information includes information about the upper limit value of the roll angle set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) determines that the warning operation is unnecessary in a state in which the roll angle of the straddle-type vehicle (100) during running exceeds the upper limit value of the roll angle serving as the determination reference. judge,
A processing device (20) according to any one of the preceding claims. The determination criterion setting information includes information about an upper limit value of the deviation angle of the direction of travel from the direction of straight travel, which is set by the rider as a criterion for determining the necessity of the warning operation,
The determination unit (22) does not require the warning operation in a state in which the deviation angle occurring in the running straddle-type vehicle (100) exceeds the upper limit value of the deviation angle as the determination criterion. determine that
A processing device (20) according to any one of the preceding claims. The control unit (23) does not operate the notification device (30) when the determination unit (22) determines that the warning operation is unnecessary.
A processing device (20) according to any one of the preceding claims. When the determination unit (22) determines that the warning operation is unnecessary, the control unit (23) instructs the notification device (30) to lower the perceptibility of the rider compared to the warning operation. causing the notification action to be performed;
A processing device (20) according to any one of the preceding claims. a processing device (20) according to any one of claims 1 to 12;
the ambient environment detection device (11);
the input device (13);
is equipped with
A warning system (1) for a straddle-type vehicle (100). comprising a warning system (1) according to claim 13,
A straddle-type vehicle (100). A processing method for a warning system (1) of a straddled vehicle (100), comprising:
An ambient environment detection device, wherein the acquisition unit (21) of the processing device (20) of the warning system (1) is provided in the straddle-type vehicle (100) while the straddle-type vehicle (100) is running. Acquisition steps (S101, S201) for acquiring ambient environment information according to the output of (11);
A determination step (S102) in which the determination unit (22) of the processing device (20) determines the necessity of the warning operation to the rider caused by the warning system (1) based on the output of the acquisition unit (21) , S103, S202) and
a control step ( S104, S105, S203, S204) and
and
In the obtaining steps (S101, S201), the obtaining unit (21) further determines whether the warning action is necessary by the rider according to the output of the input device (13) operated by the rider. Acquire the judgment criteria setting information, which is the setting state information,
In the determination step (S102, S103, S202), the determination unit (22) determines the necessity of the warning operation based on the ambient environment information and the determination criterion setting information.
Processing method.

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