Assistance device and straddle type vehicle
The present invention can realize a relatively simple parking operation of a straddle type vehicle. The present invention is related to an assistance device that assists an operation of a straddle type vehicle, the assistance device comprising acquisition means for acquiring steering angle information indicating a steering angle of the straddle type vehicle and inclination angle information indicating an inclination of a vehicle body of the straddle type vehicle, calculation means for calculating a trajectory of the straddle type vehicle, in a case of performing handling the straddle type vehicle, based on the steering angle information and the inclination angle information, and output means for outputting information indicating the trajectory.
1. An assistance device that assists an operation of a straddle type vehicle, the assistance device comprising:
an acquisition unit configured to acquire steering angle information indicating a steering angle of the straddle type vehicle and inclination angle information indicating an inclination of a vehicle body of the straddle type vehicle;
a calculation unit configured to calculate a trajectory of the straddle type vehicle, in a case of performing handling the straddle type vehicle, based on the steering angle information and the inclination angle information;
an output unit configured to output information indicating the trajectory; and
a reception unit configured to receive, from an operation input, a stop position of the straddle type vehicle, wherein
the steering angle information is set as first steering angle information, and the inclination angle information is set as first inclination angle information, and
the calculation unit calculates second steering angle information and second inclination angle information for the straddle type vehicle to reach the stop position by the handling.
2. The assistance device according to claim 1 , wherein the output unit further outputs information based on the second steering angle information and the second inclination angle information.
3. The assistance device according to claim 2 , wherein the output unit outputs information indicating a difference between the first steering angle information and the second steering angle information and a difference between the first inclination angle information and the second inclination angle information.
4. The assistance device according to claim 1 , wherein
the acquisition unit further acquires road surface environment information indicating a road surface environment, and
in a case where the road surface environment information satisfies a predetermined condition, the calculation unit performs conversion processing on the second steering angle information and the second inclination angle information to decrease the inclination of the vehicle body indicated by the second inclination angle information and to increase the steering angle indicated by the second steering angle information.
5. The assistance device according to claim 4 , wherein the case where the road surface environment information satisfies the predetermined condition includes a case where a road surface in surroundings of the straddle type vehicle is unpaved, a case where the road surface has a height difference equal to or more than a criterion, and/or a case where the road surface is wet equal to or more than a criterion.
6. A straddle type vehicle comprising:
a plurality of wheels; and
an assistance device that assists an operation of the straddle type vehicle, wherein the assistance device comprises:
an acquisition unit configured to acquire steering angle information indicating a steering angle of the straddle type vehicle and inclination angle information indicating an inclination of a vehicle body of the straddle type vehicle;
a calculation unit configured to calculate a trajectory of the straddle type vehicle, in a case of performing handling the straddle type vehicle, based on the steering angle information and the inclination angle information;
an output unit configured to output information indicating the trajectory; and
a reception unit configured to receive, from an operation input, a stop position of the straddle type vehicle,
the steering angle information is set as first steering angle information, and the inclination angle information is set as first inclination angle information, and
the calculation unit calculates second steering angle information and second inclination angle information for the straddle type vehicle to reach the stop position by the handling.
7. The straddle type vehicle according to claim 6 , further comprising a display device as an on-vehicle unit to which the output unit outputs the information indicating the trajectory.
8. The straddle type vehicle according to claim 6 , further comprising a sound source device as an on-vehicle unit to which the output unit outputs the information indicating the trajectory.
9. The straddle type vehicle according to claim 6 , further comprising:
a detection device; and an evaluation device, wherein
the detection device detects a state of a driver who performs the handling and a state of the straddle type vehicle, and the evaluation device evaluates a possibility that the straddle type vehicle falls over, based on a detection result of the detection device.
10. The straddle type vehicle according to claim 6 , wherein
a detection device detects an object in surroundings of the straddle type vehicle, and detects a relative position of a driver who performs the handling with respect to the straddle type vehicle, and
when the object is detected, the calculation unit calculates a route for guiding the straddle type vehicle to the stop position by the handling, the route being not causing the driver to interfere with the object, and calculates the second steering angle information and the second inclination angle information that enable achieving the route.
11. The straddle type vehicle according to claim 6 , wherein
a detection device detects a degree of a slope of a road surface to be the stop position, and
in a case where the degree of the slope satisfies a criterion, the calculation unit calculates a route for guiding the straddle type vehicle to the stop position by the handling, the route making a front side of the vehicle body higher than a rear side of the vehicle body, when the straddle type vehicle stops at the stop position, and calculates the second steering angle information and the second inclination angle information that enable achieving the route.