Controller and control method for maneuvering a saddled vehicle
The present disclosure provides a controller and a control method appropriately improving safety of a saddled vehicle. According to the controller and the control method according to the present disclosure, a controller maneuvers a saddled vehicle and has a control section. The control section executes a distance control in which a distance between the saddled vehicle and a target vehicle is controlled based on surrounding environment information of the saddled vehicle. The control section initiates the distance control according to a first operation in which a rider of the saddled vehicle operates an operation unit to change a reference state of the operation unit to a different state that is different from the reference state. The control section terminates the distance control according to a second operation in which the rider returns the operation unit to the reference state during execution of the distance control.
1 . A controller for a saddled vehicle, the controller configured to:
maneuver the saddled vehicle,
execute a distance control in which a distance between the saddled vehicle and a target vehicle is controlled based on surrounding environment information of the saddled vehicle,
initiate the distance control according to a first operation in which a rider of the saddled vehicle operates an operation unit to change a reference state of the operation unit to a predetermined different state that is different from the reference state; and
terminate the distance control according to a second operation in which the rider returns the operation unit to the reference state during execution of the distance control, wherein
the operation unit is an accelerator grip that is rotatable in an accelerating direction and a decelerating direction opposite to the accelerating direction,
at least while the distance control is being canceled, the accelerator grip:
generates a drive power to the saddled vehicle when the rider rotates the accelerator grip in the accelerating direction; and
reduces the drive power when the rider rotates the accelerator grip in the decelerating direction, wherein
the first operation is an operation to rotate the accelerator grip in the decelerating direction,
the second operation is an operation for returning to the reference state by rotating the accelerator grip in the accelerating direction,
the operation unit is movable to return to the reference state while being unloaded, and
in the second operation, the rider cancels the first operation so that the operation unit becomes unloaded.
2 . The controller according to claim 1 , wherein
in the reference state, a rotational position of the accelerator grip is a position where the drive power generated to the saddled vehicle is minimized while the distance control is canceled.
3 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control a deceleration of the saddled vehicle based on the surrounding environment information.
4 . The controller according to claim 3 , wherein
in the distance control, the controller is further configured to control the deceleration based on a speed of the saddled vehicle in addition to the surrounding environment information.
5 . The controller according to claim 3 , wherein
the controller is further configured to set-a rate between a braking force applied to a front wheel and a braking force applied to a rear wheel in the distance control.
6 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control an acceleration of the saddled vehicle based on the surrounding environment information.
7 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control a distance based on a slip amount generated on a wheel in addition to the surrounding environment information.
8 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control the distance based on a detection result of an inertial measurement unit mounted to the saddled vehicle in addition to the surrounding environment information.
9 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control the distance based on a state amount of the first operation in addition to the surrounding environment information.
10 . The controller according to claim 1 , wherein
in the distance control, the controller is further configured to control the distance based on a state amount of another operation unit of the saddled vehicle other than the operation unit in addition to the surrounding environment information.
11 . A control method for maneuvering a saddled vehicle, the control method comprising:
executing, using a controller, a distance control in which a distance between the saddled vehicle and a target vehicle is controlled, executing the distance control based on surrounding environment information of the saddled vehicle,
initiating the distance control according to a first operation in which a rider of the saddled vehicle operates an operation unit to change a reference state of the operation unit to a predetermined different state that is different from the reference state; and
terminating the distance control according to a second operation in which the rider returns the operation unit to the reference state during execution of the distance control, wherein
the operation unit is an accelerator grip that is rotatable in an accelerating direction and a decelerating direction opposite to the accelerating direction, and
at least while the distance control is being canceled, the accelerator grip:
generating a drive power to the saddled vehicle when the rider rotates the accelerator grip in the accelerating direction; and
reducing the drive power when the rider rotates the accelerator grip in the decelerating direction, wherein
the first operation is an operation to rotate the accelerator grip in the decelerating direction, and
the second operation is an operation for returning to the reference state by rotating the accelerator grip in the accelerating direction,
moving the operation unit to return to the reference state while being unloaded, and
cancelling the first operation, while in the second operation, so that the operation unit becomes unloaded.
12 . The controller according to claim 1 , wherein
the controller is configured to only initiate the distance control when the rider performs the first operation, wherein the first operation includes the rider rotating the operating unit from a reference state to a predetermined different state in the decelerating direction.
13 . The controller according to claim 1 , wherein
the controller is further configured to terminate the distance control when the rider performs the second operation, wherein the second operation includes the rider rotating the operating unit from a predetermined different state to a reference state in the accelerating direction, wherein the second operation further includes the rider rotating the operating unit from the reference state to a second predetermined different state in the accelerating direction.
14 . The control method according to claim 11 , wherein
initiating the distance control when the rider performs the first operation, wherein the first operation includes the rider rotating the operating unit from a reference state to a predetermined different state in the decelerating direction.
15 . The control method according to claim 11 , wherein
terminating the distance control when the rider performs the second operating, wherein the second operating includes the rider rotating the operating unit from a predetermined different state to a reference state in the accelerating direction, wherein the second operating further includes the rider rotating the operating unit from the reference state to a second predetermined different state in the accelerating direction.
16 . A controller for a saddled vehicle, the controller configured to:
maneuver the saddled vehicle,
execute a distance control in which a distance between the saddled vehicle and a target vehicle is controlled based on surrounding environment information of the saddled vehicle,
initiate the distance control according to a first operation in which a rider of the saddled vehicle operates an operation unit to change a reference state of the operation unit to a predetermined different state that is different from the reference state; and
terminate the distance control according to a second operation in which the rider returns the operation unit to the reference state during execution of the distance control, wherein the operation unit is an accelerator grip that is rotatable in an accelerating direction and a decelerating direction opposite to the accelerating direction,
at least while the distance control is being canceled, the accelerator grip:
generates a drive power to the saddled vehicle when the rider rotates the accelerator grip in the accelerating direction; and
reduces the drive power when the rider rotates the accelerator grip in the decelerating direction, wherein the first operation is an operation to rotate the accelerator grip in the decelerating direction, and
the second operation is an operation for returning to the reference state by rotating the accelerator grip in the accelerating direction; and
only initiate the distance control when the rider performs the first operation, wherein the first operation includes the rider rotating the operating unit from a reference state to a predetermined different state in the decelerating direction.