Driving assistance device for saddle type vehicle
A drive assistance device ( 24 ) for a saddle type vehicle ( 1 ) includes a ride sensor ( 37 ) configured to detect a ride attitude of a rider, a vehicle body behavior generating part ( 25 ) configured to generate a behavior on a vehicle body by a prescribed output, and a controller ( 27 ) configured to control driving of the vehicle body behavior generating part ( 25 ), and wherein, when the vehicle body behavior generating part ( 25 ) is actuated regardless of the operation of the rider, the controller ( 27 ) firstly controls the vehicle body behavior generating part ( 25 ) such that a low output that is lower than a predetermined original target output is generated as a predictive action, and sets an output value after that according to a change of detection information of the ride sensor ( 37 ) generated by the low output.
1. A drive assistance device for a saddle type vehicle comprising:
a ride sensor configured to detect a ride attitude of a rider;
a vehicle body behavior generating part configured to generate a behavior on a vehicle body by a prescribed output; and
a controller configured to control driving of the vehicle body behavior generating part, wherein, when the vehicle body behavior generating part is actuated regardless of the operation of the rider, the controller firstly controls the vehicle body behavior generating part such that a low output that is lower than a predetermined original target output is generated as a predictive action, and sets an output value after that according to a change of detection information of the ride sensor generated by the low output.
2. The drive assistance device for a saddle type vehicle according to claim 1 , wherein the vehicle body behavior generating part comprises a brake device configured to brake a host vehicle, and when the brake device is actuated regardless of the operation of the rider, the controller firstly controls the brake device so as to generate a low braking force that is lower than a predetermined original target braking force as a predictive action, and sets an output value after that according to a change of detection information of the ride sensor generated by the low braking force.
3. The drive assistance device for a saddle type vehicle according to claim 1 , wherein the vehicle body behavior generating part comprises a steering device configured to steer a host vehicle, and
wherein, when the steering device is actuated regardless of the operation of the rider, the controller firstly controls the steering device so as to generate a low steering force that is lower than a predetermined original target steering force as a predictive action, and sets an output value after that according to a change of detection information of the ride sensor generated by the low steering force.
4. The drive assistance device for a saddle type vehicle according to claim 1 , wherein, when a change of the detection information of the ride sensor generated by the low output is equal to or greater than a threshold, the controller maintains output value after that to the low output or sets to an output value that is lower than the low output.
5. The drive assistance device for a saddle type vehicle according to claim 1 , comprising: a handle to which the rider performs a steering operation,
the ride sensor comprises a grip sensor that is disposed on a grip of the handle and that is configured to detect a gripped state of the rider, and
the controller sets an output value after that according to a change of detection information of the grip sensor generated by the low output.
6. The drive assistance device for a saddle type vehicle according to claim 5 , wherein the handle comprises a pair of left and right grips
the ride sensor comprises a pair of left and right grip sensors disposed on the pair of left and right grips, respectively, and
the controller sets an output value after that according to a crosswise difference of detection information of the pair of left and right grip sensors generated by the low output.
7. The drive assistance device for a saddle type vehicle according to claim 5 , wherein the grip sensor detects a load direction with respect to the grip, and
the controller sets an output value after that according to a change of a detected load direction of the grip sensor generated by the low output.
8. The drive assistance device for a saddle type vehicle according to claim 5 , wherein the grip sensor detects an oscillation frequency of the grip, and
the controller sets an output value after that according to a change of the detected oscillation frequency of the grip sensor generated by the low output.
9. The drive assistance device for a saddle type vehicle according to claim 1 , comprising: a step on which the rider puts his/her feet,
the ride sensor comprises a step sensor disposed on the step, and
the controller sets an output value after that according to a change of detection information of the step sensor generated by the low output.
10. The drive assistance device for a saddle type vehicle according to claim 9 , comprising; a pair of left and right steps on both sides of a vehicle body,
the ride sensor comprises a pair of left and right step sensors disposed on the pair of left and right steps respectively, and
the controller sets an output value after that according to a crosswise difference of detection information of the pair of left and right step sensors generated by the low output.
11. The drive assistance device for a saddle type vehicle according to claim 9 , wherein the step sensor detects a load direction with respect to the step and
the controller sets an output value after that according to a detected load direction of the step sensor generated by the low output.
12. The drive assistance device for a saddle type vehicle according to claim 9 , wherein the step sensor detects an oscillation frequency of the step, and
the controller sets an output value after that according to a change of the detected oscillation frequency of the step sensor generated by the low output.