Straddle type vehicle, method for controlling the same, control apparatus, and storage medium
A straddle type vehicle includes a front detection unit configured to detect an object in front of a self-vehicle, a first determination unit configured to determine whether there is an avoidance space for avoiding contact with the object by turning in a case where there is a possibility of contact of the self-vehicle with the object, and a notification unit configured to give notification of information regarding the avoidance space in a case where the first determination unit determines that there is the avoidance space. The notification unit gives notification of information, as the information regarding the avoidance space, indicating that it is possible to avoid contact with the object by turning in a travel lane in which the self-vehicle is traveling.
1 . A straddle type vehicle comprising:
a front detection unit configured to detect an object in front of a self-vehicle;
a first determination unit configured to determine whether there is an avoidance space on a left side or right side of the object for avoiding contact with the object by turning in a case where there is a possibility of contact of the self-vehicle with the object and an avoidance of the contact of the self-vehicle with the object by braking is impossible; and
a notification unit configured to give notification of information regarding the avoidance space in a case where the first determination unit determines that there is the avoidance space,
wherein the notification unit gives notification of information, as the information regarding the avoidance space, indicating that the avoidance space is on a left side or right side of the object and that it is possible to avoid contact with the object by turning in a travel lane in which the self-vehicle is traveling.
2 . The straddle type vehicle according to claim 1 , wherein the information regarding the avoidance space includes information regarding a width of the avoidance space.
3 . The straddle type vehicle according to claim 1 , wherein the information regarding the avoidance space includes information regarding a direction in which avoidance is easy in a case where the avoidance space exists on both left and right sides of the object.
4 . A straddle type vehicle comprising:
a front detection unit configured to detect an object in front of a self-vehicle;
a first determination unit configured to determine whether there is an avoidance space for avoiding contact with the object by turning in a case where there is a possibility of contact of the self-vehicle with the object;
a notification unit configured to give notification of information regarding the avoidance space in a case where the first determination unit determines that there is the avoidance space; and
a second determination unit configured to determine a timing of notification by the notification unit on a basis of information regarding a possibility of avoidance of contact of the self-vehicle with the object in a case where the first determination unit determines that there is the avoidance space,
wherein the notification unit gives notification of information, as the information regarding the avoidance space, indicating that it is possible to avoid contact with the object by turning in a travel lane in which the self-vehicle is traveling, and
wherein the second determination unit determines the timing of notification based on:
a situation of the self-vehicle;
an environment parameter; and/or
a parameter regarding a traveling skill of a rider.
5 . The straddle type vehicle according to claim 4 , wherein
the object is a preceding vehicle, and
the second determination unit determines the timing on a basis of a behavior of the preceding vehicle in a width direction.
6 . The straddle type vehicle according to claim 4 , further comprising:
a rear detection unit configured to detect a vehicle behind the self-vehicle,
wherein
the second determination unit determines the timing so as to suppress notification of information regarding the avoidance space on a basis of a detection result of the rear detection unit.
7 . The straddle type vehicle according to claim 4 , wherein the situation of the self-vehicle includes:
whether it is a vehicle speed at which a turning action is possible; and/or
whether an acceleration of the self-vehicle and a tilting of a vehicle body are within an allowable range.
8 . The straddle type vehicle according to claim 4 , wherein the environment parameter includes:
a road surface condition in which the self-vehicle is traveling;
a width and tilting of a travel lane in which the self-vehicle is traveling; and/or
whether a road in front of the self-vehicle is straight or not.
9 . The straddle type vehicle according to claim 4 , wherein the parameter regarding the traveling skill of the rider includes:
a stability of the self-vehicle during straight traveling or turning; and/or
a frequency of sudden acceleration or sudden braking.
10 . The straddle type vehicle according to claim 1 , further comprising:
a suppression unit configured to suppress notification by the notification unit when it is estimated that the avoidance space is not secured at a time point when the self-vehicle passes by a lateral side of the object due to a behavior of the object in a width direction even in a case where the first determination unit determines that there is the avoidance space.
11 . The straddle type vehicle according to claim 1 , wherein the notification unit gives notification by displaying information regarding the avoidance space on a meter panel of the self-vehicle.
12 . The straddle type vehicle according to claim 1 , further comprising:
an assistance unit configured to assist a turning action of the self-vehicle,
wherein
the assistance unit assists the turning action to avoid contact with the object in a case where the contact with the object cannot be avoided by braking and can be avoided by turning.
13 . A control method for a straddle type vehicle, comprising:
a front detection step of detecting an object in front of a self-vehicle;
a determination step of determining whether there is an avoidance space on a left side or right side of the object for avoiding contact with the object by turning in a case where there is a possibility of contact of the self-vehicle with the object and an avoidance of the contact of the self-vehicle with the object by braking is impossible; and
a notification step of giving notification of information regarding the avoidance space in a case where it is determined that there is the avoidance space in the determination process,
wherein in the notification step, notification of information, as the information regarding the avoidance space, indicating the avoidance space is on a left side or right side of the object and that that it is possible to avoid contact with the object by turning in a travel lane in which the self-vehicle is traveling is given.
14 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute each step of the control method according to claim 13 .