WO2020039852A1

WO2020039852A1 - Obstacle detection device for lean vehicle

Info

Publication number: WO2020039852A1
Application number: PCT/JP2019/029639
Authority: WO
Inventors: 友也斉藤; 加藤　毅
Original assignee: ヤマハ発動機株式会社
Priority date: 2018-08-23
Filing date: 2019-07-29
Publication date: 2020-02-27

Abstract

Provided is an obstacle detection device which is for a lean vehicle and is capable of detecting obstacles present on the road in front of the lean vehicle. While the lean vehicle is turning to the left of the lean vehicle, the obstacle detection unit detects obstacles present on the road in front of the lean vehicle on the basis of a portion of a section captured by an upper-left region of at least upper-left pixels in image data captured by a plurality of pixels. While the lean vehicle is turning to the right of the lean vehicle, the obstacle detection unit detects obstacles present on the road in front of the lean vehicle on the basis of a portion of a section captured by an upper-right region of at least upper-right pixels in the image data captured by the plurality of pixels.

Description

Obstacle detection device for lean vehicles

The present invention relates to an lean-vehicle obstacle detecting device that detects an obstacle on a road positioned before a lean vehicle in the lean vehicle.

As an invention relating to a conventional lean-vehicle obstacle detection device, for example, an automatic brake device for a saddle-ride type vehicle described in Patent Literature 1 and Patent Literature 2 is known. This automatic brake device includes an external recognition unit and an ECU. The appearance recognizing means is a camera for photographing a space located in front of the vehicle with respect to the vehicle. The ECU determines whether or not an obstacle is present on a road located in front of the vehicle with respect to the vehicle based on an image of a space located in front of the vehicle with respect to the vehicle captured by the outside world recognition means.

JP-A-2017-24644 JP 2017-24645 A

As described above, there is a need for a lean vehicle obstacle detection device that can detect an obstacle existing on a road positioned in front of a lean vehicle.

Therefore, an object of the present invention is to provide a new lean-vehicle obstacle detecting device capable of detecting an obstacle existing on a road positioned ahead of a lean vehicle in the lean vehicle.

(4) In examining the detection of an obstacle existing on a road located ahead of the lean vehicle relative to the lean vehicle, the inventors of the present application have examined imaging of a space located ahead of the lean vehicle in the lean vehicle. First, the inventor of the present application compared imaging of a space located in front of a lean vehicle with respect to a lean vehicle and imaging of a space located in front of a four-wheeled motor vehicle.

The inventor of the present application fixes an image sensor for imaging a space located in front of the lean vehicle to the lean vehicle to the lean vehicle body in order to detect an obstacle existing on a road located in front of the lean vehicle in the lean vehicle. I thought that. The lean vehicle leans to the left of the lean vehicle when the lean vehicle turns to the left of the lean vehicle, and leans to the right of the lean vehicle when the lean vehicle turns to the right of the lean vehicle. It is a vehicle provided with. When the image pickup device is fixed to the lean vehicle body, the image pickup device is tilted leftward in the lean vehicle together with the lean vehicle body when the lean vehicle turns leftward in the lean vehicle. Further, when the image pickup device is fixed to the lean vehicle body, the image pickup device tilts rightward in the lean vehicle together with the lean vehicle body when the lean vehicle turns rightward in the lean vehicle. Therefore, the inventor of the present application has noticed that when the lean vehicle turns leftward in the lean vehicle, the image captured by the image sensor tilts rightward in the lean vehicle body with respect to the image sensor. Similarly, the inventor of the present application has noticed that when the lean vehicle turns rightward in the lean vehicle, the image captured by the image sensor is tilted leftward in the lean vehicle body with respect to the image sensor. Hereinafter, that the image is tilted to the left in the lean vehicle body or to the right in the lean vehicle body with respect to the image sensor is simply referred to as the image is tilted to the left in the lean vehicle body or to the right in the lean vehicle body. .

On the other hand, in a four-wheeled motor vehicle, the vehicle body hardly leans when the four-wheeled vehicle turns left or right. Therefore, even if the image sensor is fixed to the vehicle body, the image formed by the image sensor hardly tilts. As described above, the inventor of the present application has noticed that the image formed by the image sensor at the time of turning is completely different between a lean vehicle and a four-wheeled vehicle.

Next, the inventor of the present application compared the movement of the obstacle in the image of the turning four-wheeled vehicle with the movement of the obstacle in the image of the turning lean vehicle. As the lean vehicle body tilts leftward on the lean vehicle or rightward on the lean vehicle, the image tilts rightward on the lean vehicle body or leftward on the lean vehicle body. Therefore, the vertical direction in the image coincides with the vertical direction in the lean vehicle body. The horizontal direction in the image corresponds to the horizontal direction in the lean vehicle body. Hereinafter, a case where the four-wheeled vehicle turns leftward and a case where the lean vehicle turns leftward in the lean vehicle will be described as examples.

First, in a four-wheeled vehicle, the image hardly tilts even if the four-wheeled vehicle turns to the left. In this case, the obstacle located on the path of the four-wheeled vehicle appears near the vertical center of the image and near the left end of the image. The obstacle moves rightward in the image as the four-wheeled vehicle travels.

On the other hand, in a lean vehicle, when the lean vehicle turns leftward in the lean vehicle, the image is tilted rightward in the lean vehicle body. In this case, the obstacle located on the course of the lean vehicle appears near the upper left end of the lean vehicle body of the image. Then, the obstacle moves in the image rightward in the lean vehicle body and downward in the lean vehicle body as the lean vehicle travels.

As described above, the inventor of the present application has noticed that the movement of an obstacle in an image of a turning four-wheeled vehicle is completely different from the movement of an obstacle in the image of a turning lean vehicle. . The inventor of the present application has realized that when the lean vehicle turns leftward in the lean vehicle, it is sufficient to detect an obstacle near the upper left end of the lean vehicle body in the image. Similarly, the inventor of the present application has realized that when the lean vehicle turns rightward in the lean vehicle, it is sufficient to detect an obstacle near the upper right end of the lean vehicle body in the image.

The present invention employs the following configuration in order to solve the above-described problems.

(1) Lean vehicle obstacle detection device
When the lean vehicle turns leftward in the lean vehicle, it leans leftward in the lean vehicle, and when the lean vehicle turns rightward in the lean vehicle, it tilts rightward in the lean vehicle. An obstacle detection device for a lean vehicle, which is used for the lean vehicle including the lean vehicle body and detects an obstacle existing on a road located in front of the lean vehicle from the lean vehicle,
The lean vehicle obstacle detection device includes an imaging unit (A) and an obstacle detection unit (B).
(A)
The image capturing unit includes an image sensor having a plurality of pixels, and outputs image data of a space located in front of the lean vehicle from the lean vehicle imaged by the image sensor,
The image pickup device is provided at the center in the left-right direction of the lean vehicle body of the lean vehicle, so as to be inclined leftward in the lean vehicle or rightward in the lean vehicle together with the lean vehicle body,
The image sensor,
When the lean vehicle body is in an upright state, a horizontal pixel that captures a horizontal line located in front of the lean vehicle in the lean vehicle,
When the lean vehicle body is in an upright state, a vertical pixel that images a vertical line located in front of the lean vehicle at the center of the lean vehicle body in the left-right direction in the lean vehicle body,
When the lean vehicle body is in an upright state, an upper left pixel provided on the lean vehicle above the horizontal pixel and on the left side of the lean vehicle above the vertical pixel,
When the lean vehicle body is in an upright state, an upper right pixel provided in the lean vehicle above the horizontal pixel and in the lean vehicle above the vertical pixel,
When the lean vehicle body is in an upright state, a lower left pixel provided in the lean vehicle below the horizontal pixel and in the lean vehicle below the vertical pixel,
When the lean vehicle body is in an upright state, a lower right pixel provided in the lean vehicle below the horizontal pixel and in the lean vehicle from the vertical pixel,
including.
(B)
The obstacle detection unit is configured such that, when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the image captured by the plurality of pixels. Detecting the obstacle present on the road located in front of the lean vehicle from the lean vehicle based on a part of the part imaged by at least the upper left region of the upper left pixel of the data,
The obstacle detection unit is configured such that, when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the image captured by the plurality of pixels. Based on at least a part of the portion of the data captured by the upper right region of the upper right pixel, the obstacle existing on the road located before the lean vehicle in the lean vehicle is detected.

According to the lean vehicle obstacle detection device of (1), it is possible to detect an obstacle existing on a road positioned before the lean vehicle relative to the lean vehicle. More specifically, when the lean vehicle leans leftward in the lean vehicle to turn leftward in the lean vehicle, the obstacle located on the path of the lean vehicle is caused by the upper left area of the upper left pixel in the image data. It is highly likely that it will appear in the imaged part. Therefore, when the lean vehicle body is tilted leftward in the lean vehicle because the lean vehicle turns leftward in the lean vehicle, the obstacle detection unit detects at least one of the image data captured by the plurality of pixels. An obstacle existing on a road positioned before the lean vehicle in the lean vehicle is detected based on a part of a portion captured by the upper left pixel of the upper left pixel. Thus, the obstacle detection unit can detect an obstacle when the lean vehicle is tilted leftward in the lean vehicle. Similarly, when the lean vehicle leans rightward in the lean vehicle to turn rightward in the lean vehicle, an obstacle located on the course of the lean vehicle is imaged by the upper right region of the upper right pixel in the image data. It is likely to appear in the part where it was. Therefore, when the lean vehicle body is tilted rightward in the lean vehicle because the lean vehicle turns rightward in the lean vehicle, the obstacle detection unit detects at least one of the image data captured by the plurality of pixels. An obstacle existing on a road positioned ahead of the lean vehicle is detected based on a part of the part captured by the upper right region of the upper right pixel. Thus, the obstacle detection unit can detect an obstacle when the lean vehicle is inclined rightward in the lean vehicle.

The lean-vehicle obstacle detection device of (2) is the lean-vehicle obstacle detection device of (1),
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, at least a part of the obstacle is the leaning vehicle. Detecting the obstacle imaged by the upper left area of the upper left pixel,
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, at least a part of the obstacle is the lean vehicle. The obstacle captured by the upper right area of the upper right pixel is detected.

The lean-vehicle obstacle detection device of (3) is the lean-vehicle obstacle detection device of (1) or (2),
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. Includes a lean vehicle tilt angle acquisition unit that acquires a physical quantity related to the lean vehicle tilt angle indicating the angle at which the lean vehicle body is tilted when
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of the portion of the image data captured by the upper left region of the upper left pixel, and the lean vehicle inclination angle acquired by the lean vehicle inclination angle acquisition unit, the lean vehicle from the lean vehicle. Detecting the obstacle present on the road located in front of
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of the portion of the image data captured by the upper right region of the upper right pixel and the lean vehicle inclination angle acquired by the lean vehicle inclination angle acquisition unit, the lean vehicle is more lean than the lean vehicle. And detecting the obstacle existing on the road located in front of.

In the lean vehicle obstacle detection device of (3), the obstacle detection unit exists on a road located before the lean vehicle in the lean vehicle based on the lean vehicle inclination angle acquired by the lean vehicle inclination angle acquisition unit. An obstacle has been detected. Therefore, even if the image data is tilted rightward in the lean vehicle body or leftward in the lean vehicle body by the lean vehicle body tilting leftward in the lean vehicle or rightward in the lean vehicle, the obstacle detection unit is not moved. It is possible to easily detect an obstacle existing on a road located ahead of the lean vehicle in the lean vehicle.

The lean-vehicle obstacle detection device of (4) is the lean-vehicle obstacle detection device of (3),
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. At least a part of the portion of the image data captured by the upper left region of the upper left pixel is converted based on the lean vehicle tilt angle obtained by the lean vehicle tilt angle obtaining unit, and the lean vehicle is converted to the lean vehicle. When the lean vehicle body is tilted rightward in the lean vehicle for turning rightward in the vehicle, at least the upper right region of the upper right pixel in the image data captured by the plurality of pixels A part of the imaged part is taken as the lean vehicle inclination angle. Further comprising a data inclined converter for data conversion based on the lean vehicle inclination angle acquired by section,
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. Is present on the road located before the lean vehicle in the lean vehicle based on the image data of the space located in the lean vehicle before the lean vehicle converted by the data tilt conversion unit. The obstacle is detected.

According to the lean-vehicle obstacle detection device of (4), the lean vehicle body tilts leftward in the lean vehicle or rightward in the lean vehicle, so that the image data is shifted rightward in the lean vehicle body or in the lean vehicle body. Even if the vehicle is inclined to the left, the obstacle detection unit can easily detect an obstacle existing on the road positioned before the lean vehicle in the lean vehicle. More specifically, when the lean vehicle body tilts leftward in the lean vehicle or rightward in the lean vehicle, the image data tilts rightward in the lean vehicle body or leftward in the lean vehicle body. In this case, the obstacle is also inclined rightward on the lean vehicle body or leftward on the lean vehicle body. Therefore, the obstacle detection unit needs to detect an obstacle that is tilted rightward in the lean vehicle body or leftward in the lean vehicle body. Therefore, the data tilt converter converts the image data of a space located before the lean vehicle in the lean vehicle based on the lean vehicle tilt angle. Thereby, in the converted image data, the angle at which the obstacle is inclined rightward in the lean vehicle body or leftward in the lean vehicle body is smaller than in the image data not converted. As a result, the obstacle detection unit can easily detect an obstacle existing on a road positioned before the lean vehicle in the lean vehicle.

The lean-vehicle obstacle detection device of (5) is the lean-vehicle obstacle detection device of (4),
The lean vehicle inclination angle acquisition unit acquires a physical quantity related to the lean vehicle inclination angle from a sensor provided outside the lean vehicle obstacle detection device.

The (6) lean vehicle obstacle detection device is the (4) lean vehicle obstacle detection device,
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. An image inclination angle acquisition unit that acquires a physical quantity related to the lean vehicle inclination angle based on the image data of a space located before the lean vehicle in the lean vehicle.

(7) The lean vehicle obstacle detection device according to any one of (1) to (6),
The image sensor is provided on the lean vehicle body such that when the lean vehicle body is in an upright state, the direction of the optical axis of the image sensor is forward in the lean vehicle and downward in the lean vehicle. I have.

According to the lean vehicle obstacle detection device of (7), the probability that the obstacle detection unit can detect an obstacle increases. More specifically, the obstacle often exists in an area located below the horizontal line in the lean vehicle body in the image data. Therefore, if the area of the lean vehicle main body below the horizontal line occupies a higher proportion in the image data, the probability that the obstacle is imaged by the image sensor increases. Therefore, the image sensor is provided on the lean vehicle body such that the direction of the optical axis of the image sensor is forward in the lean vehicle and downward in the lean vehicle when the lean vehicle body is in the upright state. Thus, the imaging device can image the obstacle with a high probability when there is an obstacle existing on the road located in front of the lean vehicle in the lean vehicle. As a result, the probability that the obstacle detection unit can detect an obstacle increases.

The lean vehicle obstacle detection device according to (8) is the lean vehicle obstacle detection device according to any one of (1) to (7),
The lean vehicle obstacle detection device,
A first case accommodating the imaging unit;
A second case accommodating the obstacle detection unit;
Is further provided.

The lean vehicle obstacle detection device according to (9) is the lean vehicle obstacle detection device according to any one of (1) to (7),
The lean vehicle obstacle detection device,
A third case accommodating the imaging unit and the obstacle detection unit,
Further provision.

The lean-vehicle obstacle detection device of (10) is the lean-vehicle obstacle detection device of (1),
When the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle that exists only in the portion captured by the upper left pixel in the image data of the space located at
When the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. The obstacle existing only in the portion of the image data in the space located at the position captured by the upper right pixel is detected.

The lean-vehicle obstacle detection device of (11) is the lean-vehicle obstacle detection device of (10),
When the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle that exists only in the portion imaged by the upper left region of the upper left pixel in the image data of the space located at,
When the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. The obstacle existing only in a portion imaged by the upper right area of the upper right pixel in the image data in the space located at is detected.

The lean-vehicle obstacle detection device of (12) is the lean-vehicle obstacle detection device of (1) or (10),
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of a portion of the image data captured by the upper left region of the upper left pixel and a portion of a portion captured by the lower left region of the upper left pixel, the lean vehicle is positioned before the lean vehicle in the lean vehicle. Detecting the obstacle on the road,
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. A position before the lean vehicle in the lean vehicle based on at least a part of the part captured by the upper right area of the upper right pixel and a part of the part captured by the lower right area of the upper right pixel in the image data. The obstacle existing on the road to be changed is detected.

The lean vehicle obstacle detection device of (13) is the lean vehicle obstacle detection device of (1),
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. The obstacle existing on a road positioned before the lean vehicle in the lean vehicle based on at least a part of a part captured by the upper left pixel and a part of a part captured by the lower left pixel in the image data. Detect objects
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of a part imaged by the upper right pixel and a part of a part imaged by the lower right pixel of the image data, the lean vehicle is present on a road positioned before the lean vehicle in the lean vehicle. Detect obstacles.

The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention taken in conjunction with the accompanying drawings.

用語 As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

As used herein, the use of the terms "including," "comprising," or "having," and variations thereof, refers to the recited feature, step, operation. , Identify elements, components, and / or their equivalents, but may include one or more of steps, actions, elements, components, and / or groups thereof.

限り Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries should be construed to have a meaning consistent with the meaning in the context of the relevant art and this disclosure, and are explicitly defined herein. Unless otherwise stated, they are not to be construed in an ideal or overly formal sense.

It is understood that in the description of the present invention, the number of techniques and steps are disclosed. Each of these has distinct benefits, and each may be used with one or more, or possibly all, of the other disclosed techniques. Thus, for the sake of clarity, this description will refrain from repeating all possible combinations of the individual steps unnecessarily. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of the invention and the claims.

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced without these specific details. This disclosure is to be considered as illustrative of the present invention, and is not intended to limit the present invention to the particular embodiments illustrated by the following drawings or description.

According to the present invention, it is possible to detect an obstacle existing on a road located ahead of the lean vehicle in the lean vehicle.

FIG. 1A is an explanatory diagram of a lean vehicle 6 including a lean vehicle obstacle detection device 10. FIG. 1B is a diagram in which the

lean vehicles

6, 6a and the preceding vehicle 100 are viewed in the leftward direction L. FIG. 2 is a diagram showing the image data Im. FIG. 3 is a diagram showing the image data Im. FIG. 4 is a diagram showing the image data Im. FIG. 5 is a diagram showing the image data Im. FIG. 6 is a diagram showing the image data Im. FIG. 7 is an explanatory diagram of the lean vehicle 6a including the lean vehicle obstacle detection device 10a. FIG. 8 is a diagram showing the converted image data Imt. FIG. 9 is a diagram showing the converted image data Imt. FIG. 10 is a diagram showing the image data Im. FIG. 11 is a first area determination table. FIG. 12 is a diagram showing the image data Im. FIG. 13 is a diagram showing the image data Im. FIG. 14 is a diagram showing the converted image data Imt. FIG. 15 is a diagram illustrating the converted image data Imt. FIG. 16 is a flowchart illustrating an operation performed by the obstacle detection unit 16. FIG. 17 is a flowchart illustrating an operation performed by the obstacle detection unit 16. FIG. 18 is a block diagram of the lean vehicle obstacle detection device 10b according to the first modification. FIG. 19 is a block diagram of the lean vehicle obstacle detection device 10c according to the second modification.

(First embodiment)
[overall structure]
Hereinafter, the overall configuration of the lean vehicle obstacle detection device according to the first embodiment will be described with reference to the drawings. FIG. 1A is an explanatory diagram of a lean vehicle 6 including a lean vehicle obstacle detection device 10. FIG. 1A shows image data Im, a top view of the running lean vehicle 6 and the preceding vehicle 100, a left side view of the lean vehicle 6, and a block diagram of the lean vehicle obstacle detection device 10. FIG. 1B is a diagram in which the

lean vehicles

6, 6a and the preceding vehicle 100 are viewed in the leftward direction L. 2 to 6 are diagrams showing the image data Im. 1A to 6, the views of the image sensor 14 in the forward direction f are superimposed on the image data Im. 1A, 5 and 6, the lean vehicle 6 is turning rightward. 2 to 4, the lean vehicle body 60 is in an upright state.

前 Hereinafter, the forward direction / front of the lean vehicle 6 is defined as the forward direction F / front F. The rear direction / rear of the lean vehicle 6 is defined as a rear direction B / rear B. The left direction and left direction of the lean vehicle 6 are defined as left direction L and left L. The right direction and right direction of the lean vehicle 6 are defined as right direction R and right R. An upward direction / upward direction of the lean vehicle 6 is defined as an upward direction U / upward U. A downward direction and a downward direction in the lean vehicle 6 are defined as a downward direction D and a downward D. The front-back direction of the lean vehicle 6 is defined as the front-back direction FB. The left-right direction of the lean vehicle 6 is defined as the left-right direction LR. The vertical direction of the lean vehicle 6 is defined as a vertical direction UD. The front direction / front of the lean vehicle 6 is the front direction / front of the rider straddling the lean vehicle 6. The term “rearward / rearward in the lean vehicle 6” refers to the rearward / rearward direction of a rider straddling the lean vehicle 6. The left direction / left of the lean vehicle 6 is the left direction / left of a rider straddling the lean vehicle 6. The right and right directions of the lean vehicle 6 are the right and right directions of the rider straddling the lean vehicle 6. The term “upward / upward” in the lean vehicle 6 refers to the upward direction / upward of a rider straddling the lean vehicle 6. The term "downward / downward in the lean vehicle 6" refers to the downward direction / downward of a rider straddling the lean vehicle 6.

では Further, in the lean vehicle 6, the lean vehicle body 60 can be inclined in the left direction L or the right direction R. When the lean vehicle body 60 is inclined in the left direction L or the right direction R, the up-down direction and the left-right direction of the lean vehicle body 60 do not correspond to the up-down direction UD and the left-right direction LR, respectively. On the other hand, the up-down direction and the left-right direction of the lean vehicle body 60 in the upright state correspond to the up-down direction UD and the left-right direction LR, respectively. Hereinafter, the front direction / front in the lean vehicle body 60 is defined as front direction f / front f. The rear direction / rear of the lean vehicle body 60 is defined as the rear direction b / rear b. The left direction and left direction of the lean vehicle body 60 are defined as left direction l and left l. The right direction and right direction of the lean vehicle body 60 are defined as right direction r and right r. The upward direction and the upward direction of the lean vehicle body 60 are defined as an upward direction u and an upward direction u. The downward direction and downward direction of the lean vehicle body 60 are defined as downward direction d and downward d. The front-back direction in the lean vehicle body 60 is defined as the front-back direction fb. The left-right direction in the lean vehicle body 60 is defined as a left-right direction lr. The vertical direction in the lean vehicle main body 60 is defined as the vertical direction ud.

軸 In the present specification, the axis or member extending in the front-rear direction does not necessarily mean only an axis or member parallel to the front-rear direction. The shaft or member extending in the front-rear direction includes a shaft or member inclined in a range of ± 45 ° with respect to the front-rear direction. Similarly, the axis or member extending in the up-down direction includes an axis or member inclined in a range of ± 45 ° with respect to the up-down direction. The shaft or member extending in the left-right direction includes a shaft or member inclined at a range of ± 45 ° with respect to the left-right direction. The upright state of the lean vehicle body 60 means a state in which the front wheels are neither steered nor tilted in a state where no rider gets on the vehicle and no fuel is mounted on the lean vehicle 6.

場合 When any two members in this specification are defined as a first member and a second member, the relationship between the two members has the following meaning. In this specification, that the first member is supported by the second member means that the first member is attached to the second member so as not to be movable with respect to the second member (that is, is fixed). The case includes the case where the first member is movably attached to the second member with respect to the second member. The first member is supported by the second member when the first member is directly attached to the second member and when the first member is attached to the second member via the third member. Include both cases.

において In this specification, the first member and the second member arranged in the front-rear direction indicate the following states. When the first member and the second member are viewed in a direction perpendicular to the front-back direction, both the first member and the second member are arranged on an arbitrary straight line indicating the front-back direction. In this specification, the first member and the second member arranged in the front-rear direction when viewed upward or downward indicate the following states. When the first member and the second member are viewed upward or downward, both the first member and the second member are arranged on an arbitrary straight line indicating the front-back direction. In this case, when viewing the first member and the second member in a left direction or a right direction different from the upward direction and the downward direction, one of the first member and the second member is arranged on an arbitrary straight line indicating the front-back direction. It does not need to be done. Note that the first member and the second member may be in contact with each other. The first member and the second member may be separated. A third member may be present between the first member and the second member. This definition applies to directions other than the front-back direction.

において In this specification, the expression that the first member is arranged before the second member indicates the following state. The first member is disposed in front of a plane passing through the front end of the second member and orthogonal to the front-rear direction. In this case, the first member and the second member may or may not be arranged in the front-rear direction. This definition applies to directions other than the front-back direction.

において In this specification, the expression that the first member is arranged before the second member refers to the following state. At least a part of the first member is disposed in an area through which the second member passes when moving in the forward direction. Therefore, the first member may be contained in a region through which the second member passes when moving in the forward direction, or may protrude from a region through which the second member passes when moving in the forward direction. Is also good. In this case, the first member and the second member are arranged in the front-rear direction. This definition applies to directions other than the front-back direction.

において In the present specification, when the first member is disposed in front of the second member when viewed in the leftward or rightward direction, it refers to the following state. When viewed in the left or right direction, the first member and the second member are arranged in the front-rear direction, and when viewed in the left or right direction, the portion of the first member facing the second member is the second member. It is arranged before the member. In this definition, the first member and the second member do not have to be arranged in the front-rear direction in three dimensions. This definition applies to directions other than the front-back direction.

において In this specification, unless otherwise specified, each part of the first member is defined as follows. The front part of the first member means the front half of the first member. The rear part of the first member means the rear half of the first member. The left part of the first member means the left half of the first member. The right part of the first member means the right half of the first member. The upper part of the first member means the upper half of the first member. The lower part of the first member means the lower half of the first member. The upper end of the first member means an upper end of the first member. The lower end of the first member means a lower end of the first member. The front end of the first member refers to the front end of the first member. The rear end of the first member means the rear end of the first member. The right end of the first member means the right end of the first member. The left end of the first member means the left end of the first member. The upper end of the first member means the upper end of the first member and its vicinity. The lower end of the first member means the lower end of the first member and its vicinity. The front end of the first member means the front end of the first member and its vicinity. The rear end of the first member means the rear end of the first member and its vicinity. The right end of the first member means the right end of the first member and its vicinity. The left end of the first member means the left end of the first member and its vicinity. The first member means a member constituting the lean vehicle 6.

In this specification, a configuration (a member, a space, or an opening) is formed (located or provided) between the first member and the second member in the direction in which the first member and the second member are arranged. This means that a configuration exists between the first member and the second member. However, the configuration may or may not protrude from the first member or the second member in a direction orthogonal to the direction in which the first member and the second member are arranged.

The lean vehicle 6 is, for example, a motorcycle as shown in FIG. 1A. The lean vehicle 6 includes a lean vehicle main body 60, a front wheel 62, a rear wheel 64, a power source 66, and a steering mechanism 68. The lean vehicle body 60 is inclined leftward L when the lean vehicle 6 turns leftward L. The lean vehicle body 60 is inclined in the right direction R when the lean vehicle 6 turns in the right direction R.

The steering mechanism 68 is supported at the front of the lean vehicle body 60. The steering mechanism 68 steers the front wheel 62 by a rider's operation. The steering mechanism 68 includes a steering wheel, a steering shaft, and a front fork. However, the structures of the handle, the steering shaft, and the front fork are the same as those of a general handle, steering shaft, and a front fork, and a description thereof will be omitted.

The front wheel 62 is a steering wheel of the lean vehicle 6. The front wheel 62 is arranged at the front of the lean vehicle 6. The front wheel 62 is supported by a lean vehicle body 60 via a steering mechanism 68. The rider can steer the front wheel 62 by operating the steering wheel of the steering mechanism 68.

The rear wheel 64 is a drive wheel of the lean vehicle 6. The rear wheel 64 is arranged at the rear of the lean vehicle 6. The rear wheel 64 is supported by the lean vehicle main body 60 via a swing arm. The rear wheel 64 is rotated by a driving force of a power source 66 described later.

The power source 66 generates a driving force for rotating the rear wheel 64. The power source 66 is an engine. The power source 66 is supported by the lean vehicle body 60. The driving force generated by the power source 66 is transmitted to the rear wheels 64 via a transmission mechanism such as a transmission. As a result, the rear wheel 64 is rotated by the driving force generated by the power source 66.

The lean vehicle 6 further includes a lean vehicle obstacle detection device 10. The lean-vehicle obstacle detection device 10 detects an obstacle existing on a road located in front F of the lean vehicle 6. The lean vehicle obstacle detection device 10 includes an imaging unit 12, an obstacle detection unit 16, and a case 18 (third case).

The case 18 houses the imaging unit 12 and the obstacle detection unit 16. The case 18 is fixed to a front part of the lean vehicle body 60. Therefore, when the lean vehicle main body 60 is inclined in the left direction L or the right direction R, the imaging unit 12, the obstacle detection unit 16 and the case 18 are inclined in the left direction L or the right direction R together with the lean vehicle body 60.

The imaging unit 12 includes the imaging element 14. The imaging unit 12 outputs image data Im of a space located in front F of the lean vehicle 6 captured by the imaging element 14. The image sensor 14 is provided at the center of the lean vehicle main body 60 in the left-right direction lr so as to incline in the left direction L or the right direction R together with the lean vehicle main body 60. The central portion of the lean vehicle body 60 in the left-right direction lr is a portion located in the middle when the lean vehicle body 60 is divided into three equal parts in the left-right direction lr. As shown in FIG. 1B, the image sensor 14 is provided on the lean vehicle main body 60 such that the direction of the optical axis AxL of the image sensor 14 is forward F and downward D when the lean vehicle main body 60 is in the upright state. Have been. The image sensor 14 is, for example, a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). As shown in FIG. 1A, the image sensor 14 has a rectangular shape having a short side extending in the up-down direction ud and a long side extending in the left-right direction lr. The image sensor 14 has a plurality of pixels arranged in a matrix in the vertical direction ud and the horizontal direction lr. The plurality of pixels convert light incident on the pixel from outside the pixel into an electric signal.

{Circle around (2)} As shown in FIG. 2, the image sensor 14 includes a horizontal pixel 14H, a vertical pixel 14V, an upper left pixel 14lu, an upper right pixel 14ru, a lower left pixel 14ld, and a lower right pixel 14rd. As shown in FIG. 2, the horizontal pixels 14H are a plurality of pixels that capture an image of a horizontal line H0 located in the forward direction F of the lean vehicle 6 when the lean vehicle body 60 is in the upright state. Therefore, the horizontal pixels 14H are a plurality of linear pixels having a width of one pixel in the vertical direction ud and extending in the horizontal direction lr.

As shown in FIG. 1A, when the lean vehicle body 60 is tilted rightward R, the horizontal line H0 is tilted leftward l with respect to the horizontal pixels 14H. When the lean vehicle body 60 tilts in the left direction L, the horizontal line H0 tilts in the right direction r with respect to the horizontal pixels 14H. The inclination of the horizontal line H0 in the leftward direction l means that the horizontal line H0 rotates counterclockwise when viewed in the forward direction F. The inclination of the horizontal line H0 in the right direction r means that the horizontal line H0 rotates clockwise when viewed in the forward direction F.

As shown in FIG. 2, the vertical pixels 14 </ b> V are a plurality of pixels that capture an image of a vertical line located in front F of the center of the lean vehicle main body 60 in the left-right direction lr when the lean vehicle main body 60 is in the upright state. The vertical line is orthogonal to the horizontal line H0. Therefore, the vertical pixel 14V is a plurality of linear pixels having a width of one pixel in the left-right direction lr and extending in the vertical direction ud. The vertical pixel 14V is orthogonal to the horizontal pixel 14H.

The upper left pixel 14lu is a plurality of pixels provided above the horizontal pixel 14H and to the left L of the vertical pixel 14V when the lean vehicle body 60 is in the upright state. In other words, the upper left pixel 14lu is a plurality of pixels provided above the horizontal pixel 14H and to the left l of the vertical pixel 14V. The upper left pixel 14lu has a rectangular shape. The upper right pixel 14ru is a plurality of pixels provided above the horizontal pixels 14H and right R from the vertical pixels 14V when the lean vehicle body 60 is in the upright state. In other words, the upper right pixel 14ru is a plurality of pixels provided u above the horizontal pixel 14H and right r from the vertical pixel 14V. The upper right pixel 14ru has a rectangular shape. The lower left pixel 14ld is a plurality of pixels provided below the horizontal pixel 14H and to the left L of the vertical pixel 14V when the lean vehicle body 60 is in the upright state. In other words, the lower left pixel 14ld is a plurality of pixels provided below the horizontal pixel 14H and to the left l of the vertical pixel 14V. The lower left pixel 14ld has a rectangular shape. The lower right pixel 14rd is a plurality of pixels provided below the horizontal pixel 14H and to the right R of the vertical pixel 14V when the lean vehicle body 60 is in the upright state. In other words, the lower right pixel 14rd is a plurality of pixels provided below the horizontal pixel 14H and on the right side of the vertical pixel 14V. The lower right pixel 14rd has a rectangular shape.

The obstacle detection unit 16 detects the preceding vehicle 100 (obstacle) existing on the road located in front F of the lean vehicle 6 based on the image data Im captured by the image sensor 14. The obstacle detection unit 16 is, for example, an integrated circuit (IC), an electronic control unit (ECU) configured by a combination of electronic components and a circuit board, and an image processing board.

(Operation of the obstacle detection unit 16)
Next, the operation of the obstacle detection unit 16 will be described with reference to the drawings. First, obstacle detection when the lean vehicle 6 is traveling straight will be described with reference to the drawings.

First, as shown in FIG. 1B, positions P1 to P3 are defined. The position P1 is a position away from the lean vehicle 6 in the forward direction F by a distance D1. 1A and 2 are image data when the preceding vehicle 100 is located at the position P1. The position P2 is a position separated from the lean vehicle 6 by a distance D2 in the forward direction F. 3 and 5 are image data when the preceding vehicle 100 is located at the position P2. The position P3 is a position separated from the lean vehicle 6 by a distance D3 in the forward direction F. 4 and 6 are image data when the preceding vehicle 100 is located at the position P3. The relationship of D1> D2> D3 holds. Therefore, the size of the preceding vehicle 100 when the preceding vehicle 100 is located at the position P1 is the smallest. The size of the preceding vehicle 100 when the preceding vehicle 100 is located at the position P3 is the largest.

(2) When the lean vehicle 6 is traveling straight ahead and the preceding vehicle 100 is located at the position P1, as shown in FIG. 2, the preceding vehicle 100 appears near the intersection of the horizontal pixel 14H and the vertical pixel 14V in the image data Im. When the preceding vehicle 100 is located at the position P2 as the lean vehicle 6 advances, as shown in FIG. 3, the preceding vehicle 100 moves downward d along the vertical pixel 14V in the image data Im. At the same time, the leading vehicle 100 becomes larger. When the preceding vehicle 100 is located at the position P3 as the lean vehicle 6 advances, as shown in FIG. 4, the preceding vehicle 100 further moves in the downward direction d along the vertical pixel 14V in the image data Im. At the same time, the leading vehicle 100 becomes even larger.

As described above, when the lean vehicle 6 is traveling straight, the preceding vehicle 100 is located in the central area 150 that simultaneously satisfies the following (a) and (b) in the image data Im.
(A) A region d slightly below the position u at the intersection of the horizontal pixel 14H and the vertical pixel 14V. (B) A region near the vertical pixel 14V.

Therefore, when the lean vehicle 6 is traveling straight, the obstacle detection unit 16 determines the lean vehicle 6 based on at least a part of the portion captured by the central region 150 in the image data Im captured by the plurality of pixels. The preceding vehicle 100 existing on the road located ahead of F is detected.

On the other hand, when the lean vehicle 6 is turning in the right direction R and the lean vehicle body 60 is tilted in the right direction R, when the preceding vehicle 100 is located at the position P1, as shown in FIG. Appears near the upper right corner of the image data Im. When the preceding vehicle 100 is located at the position P2 as the lean vehicle 6 advances, as shown in FIG. 5, the preceding vehicle 100 moves in the lower left direction ld in the image data Im. At the same time, the leading vehicle 100 becomes larger. When the preceding vehicle 100 is located at the position P3 as the lean vehicle 6 advances, as shown in FIG. 6, the preceding vehicle 100 further moves in the lower left direction ld in the image data Im. At the same time, the leading vehicle 100 becomes even larger.

Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 determines at least one of the image data Im captured by the plurality of pixels. The preceding vehicle 100 (obstacle) existing on the road located in front F of the lean vehicle 6 is detected based on a part of the portion of the upper right pixel 14ru captured by the upper right region 140ru. The upper right area 140ru is the right and upper part of the upper right pixel 14ru. More specifically, the obstacle detection unit 16 performs the following operations (1) to (3).

(1) When the preceding vehicle 100 is located at the position P1 (FIG. 1A)
In FIG. 1A, the preceding vehicle 100 does not protrude from a portion of the image data Im captured by the upper right pixel 14ru. Therefore, when the lean vehicle body 60 is tilted in the right direction R because the lean vehicle 6 turns in the right direction R, the obstacle detection unit 16 detects a portion of the image data Im captured by the upper right pixel 14ru. Is detected only in the preceding vehicle 100 existing in the vehicle. Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 detects a portion of the image data Im captured by the upper right pixel 14ru. It does not detect the preceding vehicle 100 that is partially protruding from the vehicle.
In particular, in the present embodiment, in FIG. 1A, the preceding vehicle 100 does not protrude from a portion of the image data Im captured by the upper right area 140ru of the upper right pixel 14ru. Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 uses the upper right area 140ru of the upper right pixel 14ru in the image data Im. The preceding vehicle 100 existing only in the imaged portion is detected. Therefore, when the lean vehicle body 60 is tilted in the right direction R because the lean vehicle 6 turns in the right direction R, the obstacle detection unit 16 sets the upper right area 140ru of the upper right pixel 14ru in the image data Im. It does not detect the preceding vehicle 100 that is partially out of the imaged portion.

(2) When the preceding vehicle 100 is located at the position P2 (FIG. 5)
In FIG. 5, the preceding vehicle 100 protrudes from a portion of the image data Im captured by the upper right pixel 14ru to a portion captured by the lower right pixel 14rd. Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 captures an image using at least the upper right pixel 14ru of the image data Im. The preceding vehicle 100 existing in the part and the part imaged by the lower right pixel 14rd is detected. In the present embodiment, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 detects the upper right pixel 14ru and the right upper pixel 14ru in the image data Im. The preceding vehicle 100 existing only in the portion imaged by the lower pixel 14rd is detected. Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 determines whether the upper right pixel 14ru and the lower right pixel 14rd in the image data Im are present. Does not detect the preceding vehicle 100 that is partially protruding from the part imaged by.

(3) When the preceding vehicle 100 is located at the position P3 (FIG. 6)
The obstacle detection unit 16 detects the preceding vehicle 100 existing in the entire image data Im when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R.

As described above, in (1), the upper right area used by the obstacle detection unit 16 for obstacle detection when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R. 140ru is located above the central region 150 used by the obstacle detection unit 16 for obstacle detection when the lean vehicle 6 is traveling straight. However, if the upper end of the upper right region 140ru is located above the upper end of the central region 150, the lower end of the upper right region 140ru may be located below the upper end of the central region 150.

When the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 determines at least the upper left pixel of the image data Im captured by the plurality of pixels. Based on a part of the portion imaged by the upper left area 140lu of 14lu, the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 is detected. The upper left region 140lu is a left upper portion of the upper left pixel 14lu. More specifically, the obstacle detection unit 16 performs the following operations (4) to (6).

(4) When the Leading Vehicle 100 is at the Position P1 When the lean vehicle 6 is tilted to the left L because the lean vehicle 6 turns to the left L, the obstacle detection unit 16 outputs the image data Im. Of the vehicle 100 existing only in the part imaged by the upper left pixel 14lu of the vehicle. Therefore, when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 detects a portion of the image data Im captured by the upper left pixel 14lu. It does not detect the preceding vehicle 100 that is partially protruding from the vehicle. In particular, in the present embodiment, when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 detects the upper left pixel 14lu in the image data Im. Is detected only in the portion imaged by the upper left area 140lu of the vehicle. Therefore, when the lean vehicle body 60 is tilted in the left direction L because the lean vehicle 6 turns in the left direction L, the obstacle detection unit 16 detects the upper left area 140lu of the upper left pixel 14lu in the image data Im. It does not detect the preceding vehicle 100 that is partially out of the imaged portion.

(5) When the Leading Vehicle 100 is Located at the Position P2 The obstacle detection unit 16 outputs the image data Im when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L. , The preceding vehicle 100 existing in at least the portion imaged by the upper left pixel 14lu and the portion imaged by the lower left pixel 14ld is detected. In the present embodiment, when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 detects the upper left pixel 14lu and the lower left pixel of the image data Im. The preceding vehicle 100 existing only in the part imaged by the pixel 14ld is detected. Accordingly, when the lean vehicle body 60 is tilted to the left L because the lean vehicle 6 turns to the left L, the obstacle detection unit 16 detects the upper left pixel 14lu and the lower left pixel 14ld in the image data Im. It does not detect the preceding vehicle 100 that is partially out of the imaged portion.

(6) When the Leading Vehicle 100 is Located at the Position P3 The obstacle detection unit 16 outputs the image data Im when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L. The preceding vehicle 100 existing in the whole is detected.

As described above, in (4), the upper left area used by the obstacle detection unit 16 for obstacle detection when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L. 140lu is located above the central region 150 used by the obstacle detection unit 16 for obstacle detection when the lean vehicle 6 is traveling straight. However, if the upper end of the upper left region 140lu is located above the upper end of the central region 150, the lower end of the upper left region 140lu may be located below the upper end of the central region 150.

[effect]
According to the lean vehicle obstacle detection device 10, it is possible to detect the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6. More specifically, when the lean vehicle body 60 inclines leftward L because the lean vehicle 6 turns leftward L, the preceding vehicle 100 located on the course of the lean vehicle 6 is moved to the upper left of the image data Im. It is highly likely that it will appear in the part imaged by the upper left area 140lu of the pixel 14lu. Therefore, when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 determines at least one of the image data Im captured by the plurality of pixels. Based on a part of the portion of the upper left pixel 14lu imaged by the upper left area 140lu, the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 is detected. Thereby, the obstacle detection unit 16 can detect the preceding vehicle 100 when the lean vehicle main body 60 is inclined in the left direction L. Similarly, when the lean vehicle main body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the preceding vehicle 100 located on the course of the lean vehicle 6 becomes the upper right pixel 14ru in the image data Im. Is likely to appear in the portion imaged by the upper right area 140ru of the image. Therefore, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 determines at least one of the image data Im captured by the plurality of pixels. The preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 is detected based on a part of the upper right pixel 14ru captured by the upper right region 140ru. Thus, the obstacle detection unit 16 can detect the preceding vehicle 100 when the lean vehicle body 60 is inclined in the right direction R.

According to the lean vehicle obstacle detection device 10, the probability that the obstacle detection unit 16 can detect the preceding vehicle 100 increases. More specifically, the preceding vehicle 100 often exists in an area located below the horizontal line H0 in the image data Im. Therefore, if the area occupied by d below the horizontal line H0 occupies a higher proportion in the image data Im, the probability that the preceding vehicle 100 is imaged by the image sensor 14 increases. Therefore, the image sensor 14 is provided on the lean vehicle main body 60 such that the direction of the optical axis AxL of the image sensor 14 is forward F and downward D when the lean vehicle 6a is in the upright state. Accordingly, when the preceding vehicle 100 exists in front F of the lean vehicle 6, the image sensor 14 can image the preceding vehicle 100 with a high probability. As a result, the probability that the obstacle detection unit 16 can detect the preceding vehicle 100 increases.

(Second embodiment)
[overall structure]
Hereinafter, the overall configuration of the lean vehicle obstacle detection device according to the second embodiment will be described with reference to the drawings. FIG. 7 is an explanatory diagram of the lean vehicle 6a including the lean vehicle obstacle detection device 10a. FIG. 7 shows a left side view and a rear view of the lean vehicle 6a, and a block diagram of the lean vehicle obstacle detection device 10a. 8 to 10 and FIGS. 12 to 15 are diagrams illustrating the image data Im or the converted image data Imt. 8 to 10 and 12 to 15, the views of the image sensor 14 in the front direction F are superimposed on the image data Im. 8, 9, 14, and 15, the lean vehicle body 60 is inclined in the right direction R. In FIGS. 8, 14 and 15, θ is −20 °. In FIG. 9, θ is −10 °. 10, 12, and 13, the lean vehicle body 60 is in an upright state. In FIGS. 10, 12 and 13, the angle is 0 °. FIG. 11 is a first area determination table.

As shown in FIG. 7, the lean vehicle 6a includes a lean vehicle main body 60, a front wheel 62, a rear wheel 64, a power source 66, and a steering mechanism 68. However, the lean vehicle body 60, the front wheel 62, the rear wheel 64, the power source 66, and the steering mechanism 68 of the lean vehicle 6a are the lean vehicle body 60, the front wheel 62, the rear wheel 64, the power source 66, and the steering mechanism 68 of the lean vehicle 6. Therefore, the description is omitted.

The lean vehicle 6a further includes a lean vehicle obstacle detection device 10a and a lean vehicle inclination angle sensor 40. As shown in FIG. 7, the lean vehicle inclination angle sensor 40 is provided outside the lean vehicle obstacle detection device 10a. The lean vehicle inclination angle sensor 40 is fixed to the lean vehicle main body 60. When the lean vehicle body 60 is tilted leftward or rightward R because the lean vehicle 6 turns leftward or rightward, the lean vehicle inclination angle sensor 40 detects that the lean vehicle body 60 A physical quantity related to the lean angle of the lean vehicle 6a indicating the angle inclined in the direction L or the right direction R is detected. In the present embodiment, the physical quantity related to the lean angle of the lean vehicle 6a is the lean vehicle tilt angle θ. The lean vehicle tilt angle θ is such that the lean vehicle body 60 is tilted when the lean vehicle body 60 is tilted in the left direction L or right direction R because the lean vehicle 6a turns in the left direction L or right direction R. Indicates the angle at which Specifically, as shown in FIG. 7, the lean vehicle inclination angle θ is an angle formed by the center line Ax2 of the lean vehicle main body 60 with respect to the vertical axis Ax1 extending in the up-down direction UD. The center line Ax2 is a straight line that is located at the center of the lean vehicle body 60 in the left-right direction lr and extends in the up-down direction ud when viewed in the front direction F. The center line Ax2 inclines in the left direction L or the right direction R when the lean vehicle body 60 inclines in the left direction L or the right direction R. The lean vehicle tilt angle θ takes a positive value when the lean vehicle body 60 is tilted leftward L, and takes a negative value when the lean vehicle body 60 tilts rightward R.

The lean vehicle obstacle detection device 10a detects an obstacle existing on a road located in front F of the lean vehicle 6a. The lean vehicle obstacle detection device 10a includes an imaging unit 12, an obstacle detection unit 16, and a case 18. However, since the imaging unit 12 and the case 18 of the lean vehicle 6a are the same as the imaging unit 12 and the case 18 of the lean vehicle 6, further description is omitted.

When the lean vehicle main body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 detects at least the upper left corner of image data Im captured by a plurality of pixels. Based on a part of the portion imaged by the upper left area 140lu of the pixel 14lu (see FIG. 8) and the lean vehicle inclination angle θ acquired by the lean vehicle inclination angle sensor 40, on the road located ahead of the lean vehicle 6 in front F. An existing preceding vehicle 100 is detected. When the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 determines at least the upper right of image data Im captured by a plurality of pixels. The preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 based on a part of the portion imaged by the upper right area 140ru of the pixel 14ru and the lean vehicle tilt angle θ acquired by the lean vehicle tilt angle sensor 40. Is detected. The obstacle detection unit 16 is, for example, an integrated circuit (IC), an electronic control unit (ECU) configured by a combination of electronic components and a circuit board, and an image processing board. The obstacle detection unit 16 includes a lean vehicle inclination angle acquisition unit 30, a data inclination conversion unit 32, an area determination unit 34, and an obstacle detection unit calculation unit 36.

The lean vehicle inclination angle acquisition unit 30 acquires a physical quantity related to the inclination angle of the lean vehicle 6a from the lean vehicle inclination angle sensor 40. In the present embodiment, the physical quantity related to the lean angle of the lean vehicle 6a is the lean vehicle tilt angle θ. The lean vehicle inclination angle acquisition unit 30 is, for example, a terminal provided in the ECU of the obstacle detection unit 16. The terminal is electrically connected to the lean vehicle inclination angle sensor 40. That is, the electric signal of the lean vehicle inclination angle θ is input to the obstacle detection unit 16 via the lean vehicle inclination angle acquisition unit 30 which is a terminal. As a result, the lean vehicle inclination angle acquisition unit 30 acquires the lean vehicle inclination angle θ.

When the lean vehicle main body 60 is tilted leftward L because the lean vehicle 6a turns leftward L, the data tilt converter 32 performs at least the upper left of image data Im captured by a plurality of pixels. A part of the part imaged by the upper left region 140lu (see FIG. 8) of the pixel 14lu is subjected to data conversion based on the lean vehicle inclination angle θ acquired by the lean vehicle inclination angle acquisition unit 30. In addition, the data inclination conversion unit 32 outputs the image data Im captured by a plurality of pixels when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6a turns rightward R. At least a part of the part imaged by the upper right region 140ru (see FIG. 8) of the upper right pixel 14ru is converted into data based on the lean vehicle inclination angle θ acquired by the lean vehicle inclination angle acquisition unit 30. In the present embodiment, when the lean vehicle main body 60 is tilted leftward or rightward R because the lean vehicle 6a turns leftward or rightward R, the data tilt converter 32 outputs image data. Data conversion is performed on the entire Im based on the lean vehicle inclination angle θ acquired by the lean vehicle inclination angle acquisition unit 30. More specifically, the imaging unit 12 outputs the image data Im shown in FIG. 1A. As shown in FIG. 8, the data inclination converter 32 performs data conversion so that the image data Im is rotated by the lean vehicle inclination angle θ. Hereinafter, the converted image data Im is referred to as converted image data Imt.

The area determination unit 34 determines the position of the area in which the obstacle detection is performed in the converted image data Imt based on the lean vehicle inclination angle θ. More specifically, as shown in FIGS. 8, 9, and 10, the position where the preceding vehicle 100 appears increases as the absolute value of the lean vehicle inclination angle θ increases. The height is a distance in the vertical direction ud from the horizontal pixel H to the preceding vehicle 100. Therefore, it is preferable that the position of the area in which obstacle detection is performed be changed according to the lean vehicle inclination angle θ.

Therefore, the area determination unit 34 includes a memory for storing the first area determination table shown in FIG. The first area determination table is a table showing a relationship between the lean vehicle inclination angle θ and the center coordinates C1 (x1 (θ), y1 (θ)) of the area A1. The center coordinate C1 (x1 (θ), y1 (θ)) of the area A1 is the intersection of the diagonal lines of the area A1. The origin is the intersection of the vertical pixel 14V and the horizontal pixel 14H. The horizontal pixel 14H is on the x-axis. The positive direction of the x-axis is the right direction r. The vertical pixel 14V is on the y-axis. The positive direction of the y-axis is the upward direction u. The center coordinates C1 (x1 (θ), y1 (θ)) of the area A1 change as follows when the lean vehicle 6 inclines leftward L or rightward R.

When the lean vehicle 6 is tilted in the left direction L, the center coordinates C1 (x1 (θ), y1 (θ)) of the area A1 move away from the center coordinates C1 (x1 (0), y1 (0)) in the upper left direction lu. To go.
When the lean vehicle 6 tilts in the right direction R, the center coordinates C1 (x1 (θ), y1 (θ)) of the area A1 move away from the center coordinates C1 (x1 (0), y1 (0)) in the upper right direction ru. (See FIGS. 8, 9 and 10).

By the way, there are three types of areas A1 to A3 having different sizes from each other in the area where obstacle detection is performed. Hereinafter, the areas A1 to A3 will be described with reference to FIGS. 10, 12, and 13. FIG. The areas A1 to A3 have a rectangular shape having a short side parallel to the vertical direction UD and a long side parallel to the horizontal direction LR. The areas A1 to A3 have shapes similar to each other. The sizes of the areas A1 to A3 are different from each other as described below.

First, as shown in FIG. 1B, positions P1 to P3 are defined. The position P1 is a position away from the lean vehicle 6 in the forward direction F by a distance D1. The image data in FIG. 10 is image data when the preceding vehicle 100 is located at the position P1. The position P2 is a position separated from the lean vehicle 6 by a distance D2 in the forward direction F. The image data in FIG. 12 is image data when the preceding vehicle 100 is located at the position P2. The position P3 is a position separated from the lean vehicle 6 by a distance D3 in the forward direction F. The image data in FIG. 13 is image data when the preceding vehicle 100 is located at the position P3. The relationship of D1> D2> D3 holds. Therefore, the size of the lean vehicle 6 when the preceding vehicle 100 is located at the position P1 is the smallest. The size of the lean vehicle 6 when the preceding vehicle 100 is located at the position P3 is the largest. Therefore, as shown in FIGS. 10 and 12, the size of the area A1 is smaller than the size of the area A2. As shown in FIGS. 12 and 13, the size of the area A2 is smaller than the size of the area A3.

Further, the area determination unit 34 further stores a second area determination table (not shown) indicating the relationship between the lean vehicle inclination angle θ and the center coordinates C2 (x2 (θ), y2 (θ)) of the area A2. are doing. The structure of the second area determination table is the same as the structure of the first area determination table, and will not be described. The center coordinates C2 (x2 (θ), y2 (θ)) of the area A2 are the intersections of the diagonal lines of the area A2, as shown in FIG. The center coordinates C2 (x2 (θ), y2 (θ)) of the area A2 change as follows when the lean vehicle 6 inclines leftward L or rightward R.

When the lean vehicle 6 tilts in the left direction L, the center coordinates C2 (x2 (θ), y2 (θ)) of the area A2 move away from the center coordinates C2 (x2 (0), y2 (0)) in the upper left direction lu. To go.
When the lean vehicle 6 tilts in the right direction R, the center coordinates C2 (x2 (θ), y2 (θ)) of the area A2 move away from the center coordinates C2 (x2 (0), y2 (0)) in the upper right direction ru. (See FIGS. 12 and 14).

The area determination unit 34 further stores a third area determination table (not shown) indicating the relationship between the lean vehicle inclination angle θ and the center coordinates C3 (x3 (θ), y3 (θ)) of the area A3. are doing. The structure of the third area determination table is the same as the structure of the first area determination table, and will not be described. The center coordinate C3 (x3 (θ), y3 (θ)) of the area A3 is the intersection of the diagonal lines of the area A3, as shown in FIG. The center coordinates C3 (x3 (θ), y3 (θ)) of the area A3 change as follows when the lean vehicle 6 is tilted leftward L or rightward R.

When the lean vehicle 6 tilts in the left direction L, the center coordinates C3 (x3 (θ), y3 (θ)) of the area A3 move away from the center coordinates C3 (x3 (0), y3 (0)) in the upper left direction lu. To go.
When the lean vehicle 6 tilts in the right direction R, the center coordinates C3 (x3 (θ), y3 (θ)) of the area A3 move away from the center coordinates C3 (x3 (0), y3 (0)) in the upper right direction ru. (See FIGS. 13 and 15).

Next, detection of the preceding vehicle 100 by the obstacle detection unit calculation unit 36 will be described. As shown in FIG. 10, the obstacle detection unit calculation unit 36 moves the frame F1 and scans the area A1. The frame F1 has a rectangular shape substantially matching the size of the preceding vehicle 100 located at the position P1 (see FIG. 1B). The short side of the frame F1 extends in the up-down direction UD. The long side of the frame F1 extends in the left-right direction LR. When the preceding vehicle 100 is within the frame F1, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P1.

{Circle around (2)} As shown in FIG. 12, the obstacle detection unit calculation unit 36 moves the frame F2 and scans the area A2. The frame F2 has a rectangular shape substantially matching the size of the preceding vehicle 100 located at the position P2 (see FIG. 1B). Therefore, the size of the frame F2 is larger than the size of the frame F1. The short side of the frame F2 extends in the up-down direction UD. The long side of the frame F2 extends in the left-right direction LR. When the preceding vehicle 100 is within the frame F2, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P2.

{Circle around (3)} As shown in FIG. 13, the obstacle detection unit calculation unit 36 scans the area A3 by moving the frame F3. The frame F3 has a rectangular shape substantially matching the size of the preceding vehicle 100 located at the position P3 (see FIG. 1B). Therefore, the size of the frame F3 is larger than the size of the frame F2. The short side of the frame F3 extends in the up-down direction UD. The long side of the frame F3 extends in the left-right direction LR. When the preceding vehicle 100 is within the frame F3, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P3.

(Operation of the obstacle detection unit 16)
Next, the operation of the obstacle detection unit 16 will be described with reference to FIGS. FIG. 16 and FIG. 17 are flowcharts illustrating the operation performed by the obstacle detection unit 16. In the following description, the image data Im and the converted image data Imt shown in FIGS. 1A and 8 will be described as examples.

This process is started when the power of the lean vehicle 6 is switched from the OFF state to the ON state. During the execution of this process, the imaging unit 12 captures the image data Im of the space located in front of the lean vehicle 6 by the imaging device 14 and outputs the image data Im to the obstacle detection unit 16. Thus, the obstacle detection unit 16 acquires the image data Im shown in FIG. 1A (Step S1).

Next, the lean vehicle inclination angle acquisition unit 30 acquires the lean vehicle inclination angle θ from the lean vehicle inclination angle sensor 40 (Step S2). Specifically, the lean vehicle inclination angle sensor 40 outputs an electric signal of the lean vehicle inclination angle θ. This electric signal is input to the obstacle detection unit 16 via the lean vehicle inclination angle acquisition unit 30 which is a terminal of the obstacle detection unit 16.

Next, the data tilt converter 32 converts the image data Im to obtain converted image data Imt (step S3). More specifically, the data tilt converter 32 performs data conversion so as to rotate the image data Im shown in FIG. 1A by the lean vehicle tilt angle θ, and generates converted image data Imt shown in FIG.

The area determination unit 34 determines the center coordinates C1 (x1 (θ), y1 (θ)) of the area A1 based on the first area determination table shown in FIG. 11 and the lean vehicle inclination angle θ (step S4). In the converted image data Imt shown in FIG. 8, the lean vehicle 6 is inclined rightward R. Therefore, the center coordinate C1 (x1 (θ), y1 (θ)) of the area A1 is located near the upper right corner of the converted image data Imt.

Next, the obstacle detection unit calculation unit 36 detects the preceding vehicle 100 in the area A1 of the converted image data Imt (Step S5). Therefore, the obstacle detection unit calculation unit 36 scans the area A1 by moving the frame F1 as shown in FIG. The area A1 protrudes from the upper right area 140ru. Therefore, the obstacle detection unit calculation unit 36 detects the preceding vehicle 100 in which at least a part of the preceding vehicle 100 is imaged by the upper right area 140ru of the upper right pixel 14ru. Although not shown, when the lean vehicle 6 is inclined in the left direction L, the obstacle detection unit calculation unit 36 captures at least a part of the preceding vehicle 100 using the upper left area 140lu of the upper left pixel 14lu. The detected preceding vehicle 100 is detected.

Next, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 exists in the area A1 (step S6). Therefore, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 that fits in the frame F1 exists. When the preceding vehicle 100 that fits in the frame F1 exists, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P1. At this time, the process proceeds to step S7. When the preceding vehicle 100 that fits in the frame F1 does not exist, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 does not exist at the position P1. At this time, the process proceeds to step S8. In the converted image data Imt illustrated in FIG. 8, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P1.

When the preceding vehicle 100 exists in the area A1, the obstacle detection unit calculation unit 36 outputs a first obstacle detection signal Sig1 indicating that the preceding vehicle 100 exists at the position P1 to the outside of the obstacle detection unit 16. (Step S7). Thereafter, the processing proceeds to step S9.

When the preceding vehicle 100 does not exist in the area A1, the obstacle detection unit calculation unit 36 outputs the first obstacle non-detection signal Sig11 indicating that the preceding vehicle 100 does not exist at the position P1 to the outside of the obstacle detection unit calculation unit 36. (Step S8). Thereafter, the processing proceeds to step S9.

In step S9, the area determination unit 34 determines the center coordinates C2 (x2 (θ), y2 (θ)) of the area A2 based on the second area determination table and the lean vehicle inclination angle θ (step S9). . In the converted image data Imt shown in FIG. 8, the center coordinate C2 (x2 (θ), y2 (θ)) of the area A2 is the center coordinate C1 (x1 (θ), y1 (θ) of the area A1 in the converted image data Imt. ) Is located at the lower left ld.

Next, the obstacle detection unit calculation unit 36 detects the preceding vehicle 100 in the area A2 of the converted image data Imt (Step S10). Therefore, the obstacle detection unit calculation unit 36 scans the area A2 by moving the frame F2 as shown in FIG. The area A2 protrudes from the upper right pixel 14ru to the lower right pixel 14rd. Therefore, the obstacle detection unit calculation unit 36 determines at least a part of a part captured by the upper right pixel 14ru and a part of a part captured by the lower right pixel 14rd in the converted image data Imt captured by the plurality of pixels. The preceding vehicle 100 is detected based on. Although not shown, when the lean vehicle 6 is inclined in the left direction L, the area A2 extends from the upper left pixel 14lu to the lower left pixel 14ld. Therefore, the obstacle detection unit calculation unit 36 includes at least a part of the part captured by the upper left pixel 14lu and a part of the part captured by the lower left pixel 14ld of the converted image data Imt captured by the plurality of pixels. Based on this, the preceding vehicle 100 is detected.

Next, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 exists in the area A2 (step S11). Therefore, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 that fits in the frame F2 exists. However, the obstacle detection unit calculation unit 36 excludes the preceding vehicle 100 that is determined to fit in the frame F1 in step S6 from the target of the determination in step S11. When the preceding vehicle 100 that fits in the frame F2 exists, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P2. At this time, the process proceeds to step S12. When the preceding vehicle 100 that fits in the frame F2 does not exist, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 does not exist at the position P2. At this time, the process proceeds to step S13. In the converted image data Imt illustrated in FIG. 8, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 does not exist at the position P2.

When the preceding vehicle 100 exists in the area A2, the obstacle detection unit calculation unit 36 outputs a second obstacle detection signal Sig2 indicating that the preceding vehicle 100 exists at the position P2 to the outside of the obstacle detection unit 16. (Step S12). Thereafter, the processing proceeds to step S14.

When the preceding vehicle 100 does not exist in the area A2, the obstacle detection unit calculation unit 36 outputs a second obstacle non-detection signal Sig12 indicating that the preceding vehicle 100 does not exist at the position P2 to the outside of the obstacle detection unit 16. (Step S13). Thereafter, the processing proceeds to step S14.

In step S14, the area determination unit 34 determines the center coordinates C3 (x3 (θ), y3 (θ)) of the area A3 based on the third area determination table and the lean vehicle inclination angle θ (step S14). . In the converted image data Imt shown in FIG. 8, the center coordinate C3 (x3 (θ), y3 (θ)) of the area A3 is the center coordinate C2 (x2 (θ), y2 (θ) of the area A2 in the converted image data Imt. ) Is located at the lower left ld.

Next, the obstacle detection unit calculation unit 36 detects the preceding vehicle 100 in the area A3 of the converted image data Imt (Step S15). Therefore, the obstacle detection unit calculation unit 36 scans the area A3 by moving the frame F3 as shown in FIG. Then, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 exists in the area A3 (Step S16). Therefore, the obstacle detection unit calculation unit 36 determines whether or not the preceding vehicle 100 that fits in the frame F3 exists. However, the obstacle detection unit calculation unit 36 excludes the preceding vehicle 100 determined to fit in the frame F1 in step S6 and the preceding vehicle 100 determined to fit in the frame F2 in step S11 from the determination target in step S16. . When the preceding vehicle 100 that fits in the frame F3 exists, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 exists at the position P3. At this time, the process proceeds to step S17. When the preceding vehicle 100 that fits in the frame F3 does not exist, the obstacle detection unit calculation unit 36 determines that the preceding vehicle 100 does not exist at the position P3. At this time, the process proceeds to step S18. In the converted image data Imt illustrated in FIG. 8, the obstacle detection unit calculation unit 36 determines that there is no preceding vehicle at the position P3.

When the preceding vehicle 100 exists in the area A3, the obstacle detection unit calculation unit 36 outputs a third obstacle detection signal Sig3 indicating that the preceding vehicle 100 exists at the position P3 to the outside of the obstacle detection unit 16. (Step S17). Thereafter, the processing proceeds to step S19.

When the preceding vehicle 100 does not exist in the area A3, the obstacle detection unit calculation unit 36 outputs a third obstacle non-detection signal Sig13 indicating that the preceding vehicle 100 does not exist at the position P3 to the outside of the obstacle detection unit 16. (Step S18). Thereafter, the processing proceeds to step S19.

(4) In step S19, the obstacle detection unit calculation unit 36 determines whether or not to end the processing (step S19). Therefore, the obstacle detection unit calculation unit 36 determines whether the power of the lean vehicle 6 has been switched from the ON state to the OFF state. When the power of the lean vehicle 6 is switched from the ON state to the OFF state, the obstacle detection unit calculation unit 36 determines to end this processing. If the power of the lean vehicle 6 has not been switched from the ON state to the OFF state, the obstacle detection unit calculation unit 36 determines that this processing is not to be ended. In this case, the process returns to step S1.

[effect]
According to the lean vehicle obstacle detection device 10a, the preceding vehicle 100 existing on the road located in front of the lean vehicle 6 can be detected for the same reason as the lean vehicle obstacle detection device 10. Further, according to the lean vehicle obstacle detection device 10a, the probability that the obstacle detection unit 16 can detect the preceding vehicle 100 increases for the same reason as the lean vehicle obstacle detection device 10.

Further, in the lean vehicle obstacle detection device 10a, the obstacle detection unit calculation unit 36 determines whether the obstacle detection unit calculation unit 36 is on the road located ahead of the lean vehicle 6a based on the lean vehicle inclination angle θ acquired by the lean vehicle inclination angle acquisition unit 30. Is detected. Therefore, even when the lean vehicle main body 60 inclines in the leftward direction L or the rightward direction R, even if the image data Im inclines in the rightward direction r or the leftward direction l, the obstacle detecting unit calculation unit 36 is in front of the lean vehicle 6. The preceding vehicle 100 existing on the road located at F can be easily detected.

Further, according to the lean vehicle obstacle detection device 10a, even if the image data Im is inclined to the right direction r or the left direction l by the lean vehicle main body 60 being inclined to the left direction L or the right direction R, the obstacle is not affected. The object detection unit calculation unit 36 can easily detect the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6a. More specifically, when the lean vehicle body 60 tilts in the left direction L or the right direction R, the image data Im tilts in the right direction r or the left direction l. In this case, the preceding vehicle 100 also leans rightward r or leftward l. Therefore, it is necessary for the obstacle detection unit calculation unit 36 to detect the preceding vehicle 100 inclined in the right direction r or the left direction l. Thus, the data tilt converter 32 converts the image data Im in the space located in front F of the lean vehicle 6a based on the lean vehicle tilt angle θ. As a result, in the converted image data Imt, the angle at which the preceding vehicle 100 is inclined in the right direction r or the left direction l becomes small. As a result, the obstacle detection unit calculation unit 36 can easily detect the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6a.

Further, according to the lean vehicle obstacle detection device 10a, when the IC of the data inclination conversion unit 32 and the IC of the obstacle detection unit calculation unit 36 are separately provided, the IC of the four-wheeled vehicle It can be used for the object detection unit calculation unit 36. More specifically, the lean vehicle body 60 tilts in the left direction L when the lean vehicle 6a turns in the left direction L, and tilts in the right direction R when the lean vehicle 6a turns in the right direction R. Therefore, when the lean vehicle 6a turns leftward L, the image data Im tilts rightward r. At this time, the preceding vehicle 100 also leans rightward r. When the lean vehicle 6a turns rightward R, the image data Im tilts leftward l. At this time, the preceding vehicle 100 also leans leftward l.

On the other hand, an automobile hardly leans when the automobile turns left or right. Therefore, the preceding vehicle 100 also hardly leans. Therefore, the IC of the four-wheeled vehicle detects the preceding vehicle 100 that is not inclined leftward or rightward. As a result, it is difficult for the IC of the four-wheeled vehicle to detect the preceding vehicle 100 inclined in the left direction l or the right direction r in the image data Im.

Therefore, the data tilt converter 32 converts the image data Im in the space located in front F of the lean vehicle 6a based on the lean vehicle tilt angle θ. As a result, in the converted image data Imt, the angle at which the preceding vehicle 100 is inclined in the right direction r or the left direction l becomes small. As a result, the obstacle detection unit calculation unit 36 using the IC of the four-wheeled vehicle can detect the preceding vehicle 100 based on the converted image data Imt.

(First Modification)
Next, a lean vehicle obstacle detection device 10b according to a first modification will be described with reference to the drawings. FIG. 18 is a block diagram of the lean vehicle obstacle detection device 10b according to the first modification.

The lean vehicle obstacle detection device 10b includes an imaging unit 12, an obstacle detection unit 16, a case 18a (first case), and a case 18b (second case). The case 18a houses the imaging unit 12. The case 18b houses the obstacle detection unit 16. The cases 18a and 18b are fixed to the front part of the lean vehicle body 60. Therefore, when the lean vehicle main body 60 is tilted leftward or rightward R, the imaging unit 12, the obstacle detection unit 16, and the cases 18a and 18b are tilted leftward or rightward together with the lean vehicle main body 60.

Note that the imaging unit 12 and the obstacle detection unit 16 of the lean vehicle obstacle detection device 10b are the same as the imaging unit 12 and the obstacle detection unit 16 of the lean vehicle obstacle detection device 10a, and thus description thereof is omitted.

According to the lean-vehicle obstacle detection device 10b, the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 can be detected for the same reason as the lean-vehicle obstacle detection device 10a. Further, according to the lean vehicle obstacle detection device 10b, the probability that the obstacle detection unit 16 can detect the preceding vehicle 100 increases for the same reason as the lean vehicle obstacle detection device 10a. According to the lean vehicle obstacle detection device 10b, the lean vehicle main body 60 is inclined in the left direction L or the right direction R for the same reason as the lean vehicle obstacle detection device 10a, so that the image data Im becomes right. Even if the vehicle is inclined in the direction r or the left direction l, the obstacle detection unit calculation unit 36 can easily detect the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6. Further, according to the lean vehicle obstacle detection device 10b, for the same reason as the lean vehicle obstacle detection device 10a, an IC of a four-wheeled vehicle can be used for the obstacle detection unit calculation unit 36.

(Second Modification)
Next, a lean vehicle obstacle detection device 10c according to a second modification will be described with reference to the drawings. FIG. 19 is a block diagram of the lean vehicle obstacle detection device 10c according to the second modification.

In the lean vehicle obstacle detection device 10a, the obstacle detection unit 16 includes a lean vehicle inclination angle acquisition unit 30. On the other hand, in the lean vehicle obstacle detection device 10c, the obstacle detection unit 16 includes an image tilt angle acquisition unit 50.

When the lean vehicle body 60 is tilted leftward or rightward R because the lean vehicle 6a turns leftward or rightward R, the image tilt angle acquisition unit 50 outputs the front F before the lean vehicle 6a. Of the lean vehicle 6a is acquired based on the image data Im of the space located at the position. In this modification, the physical quantity related to the lean angle of the lean vehicle 6a is the lean vehicle tilt angle θ.

Other structures of the lean-vehicle obstacle detection device 10c are the same as those of the lean-vehicle obstacle detection device 10a, and thus description thereof is omitted.

According to the lean-vehicle obstacle detection device 10c, the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6 can be detected for the same reason as the lean-vehicle obstacle detection device 10a. Further, according to the lean vehicle obstacle detection device 10c, the probability that the obstacle detection unit 16 can detect the preceding vehicle 100 increases for the same reason as the lean vehicle obstacle detection device 10a. Further, according to the lean vehicle obstacle detection device 10c, the image data Im is shifted to the right by tilting the lean vehicle body 60 in the left direction L or the right direction R for the same reason as the lean vehicle obstacle detection device 10a. Even if the vehicle is inclined in the direction r or the left direction l, the obstacle detection unit calculation unit 36 can easily detect the preceding vehicle 100 existing on the road located in front F of the lean vehicle 6. Further, according to the lean vehicle obstacle detection device 10c, the IC of the four-wheeled vehicle can be used for the obstacle detection unit calculation unit 36 for the same reason as the lean vehicle obstacle detection device 10a.

(Other embodiments)
The embodiments and modifications described and / or illustrated in the present specification are for facilitating understanding of the present disclosure, and do not limit the idea of the present disclosure. The above embodiments and modified examples can be changed and improved without departing from the gist thereof.

Such purports may be recognized by those skilled in the art based on the embodiments disclosed herein, such as equivalent elements, modifications, deletions, combinations (for example, combinations of features across the embodiments and modifications), improvements, and changes. Is included. Limitations in the claims should be construed broadly based on the terms used in the claims and are limited to the embodiments and variations described in this specification or in the prosecution of this application. Should not be done. Such embodiments and variations are to be construed as non-exclusive. For example, as used herein, the terms "preferably" and "good" are non-exclusive and include "preferably but not limited to" and "good but not limited thereto." No. "

Note that the

lean vehicles

6, 6a are not limited to motorcycles. The

lean vehicle

6, 6a leans leftward when the

lean vehicle

6, 6a turns leftward L, and leans rightward R when the

lean vehicle

6, 6a turns rightward R. What is necessary is just to have the main body 60. Therefore, the

lean vehicle

6, 6a may be, for example, a three-wheel vehicle having two front wheels and one rear wheel, or a three-wheel vehicle having one front wheel and two rear wheels. Alternatively, the vehicle may be a four-wheel vehicle including two front wheels and two rear wheels. Further, the

lean vehicles

6, 6a may be personal watercrafts.

Note that the

lean vehicles

6, 6a are, for example, the first obstacle detection signal Sig1, the second obstacle detection signal Sig2, the third obstacle detection signal Sig3, the first obstacle non-detection signal Sig11, and the second obstacle non-detection. The signal Sig12 and the third obstacle non-detection signal Sig13 can be used for various notifications and vehicle control. The

lean vehicles

6, 6a are provided with, for example, a first obstacle detection signal Sig1, a second obstacle detection signal Sig2, a third obstacle detection signal Sig3, a first obstacle non-detection signal Sig11, and a second obstacle non-detection signal Sig12. Based on the third obstacle non-detection signal Sig13, the rider may be notified that the preceding vehicle 100 is present in the forward direction F. The notification method may be auditory, visual, or tactile.

Note that, similarly to the lean vehicle

obstacle detection devices

10a and 10b, the lean vehicle obstacle detection device 10 also includes a first obstacle detection signal Sig1, a second obstacle detection signal Sig2, a third obstacle detection signal Sig3, The first obstacle non-detection signal Sig11, the second obstacle non-detection signal Sig12, and the third obstacle non-detection signal Sig13 may be output.

Note that the obstacle is the preceding vehicle 100 (automobile). However, the obstacle is not limited to the preceding vehicle 100 (automobile), but may be a vehicle other than the automobile, a wall, a guardrail, a person, an animal, and the like.

In the lean vehicle obstacle detection device 10a, the IC of the data inclination conversion unit 32 and the IC of the obstacle detection unit calculation unit 36 are provided separately. However, the data inclination conversion unit 32 and the obstacle detection unit calculation unit 36 may be configured by one IC.

In the lean vehicle

obstacle detection devices

10a and 10b, the physical quantity related to the lean angle of the lean vehicle 6a is the lean vehicle tilt angle θ. However, the physical quantity related to the lean angle of the lean vehicle 6a is not limited to the lean vehicle tilt angle θ. The physical quantity related to the lean angle of the lean vehicle 6a may be a lean vehicle tilt angular velocity obtained by time-differentiating the lean vehicle tilt angle θ. The lean angular velocity of the lean vehicle can be detected by, for example, an angular velocity sensor of an IMU (Inertial Measurement Unit) of the lean vehicle 6a. When the lean vehicle inclination angular velocity is used as a physical quantity related to the inclination angle of the lean vehicle 6a, the obstacle detection unit 16 acquires the lean vehicle inclination angle θ by integrating the lean vehicle inclination angular velocity with time. Is also good.

Note that the lean-vehicle

obstacle detection devices

10a and 10b detect obstacles in three types of areas A1 to A3. However, the lean vehicle

obstacle detection devices

10a and 10b may perform obstacle detection using one type of area, two types of area, or four or more types of areas. As the number of areas increases, the distance from the

lean vehicle

6, 6a to the preceding vehicle 100 can be detected with higher accuracy.

In the lean vehicle

obstacle detection devices

10, 10a, and 10b, the obstacle detection unit 16 determines that the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L. The preceding vehicle 100 may be detected based on at least a part of the image taken by the upper left area 140lu of the upper left pixel 14lu in the image data Im captured by the plurality of pixels. Further, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 determines at least one of the image data Im captured by the plurality of pixels. The preceding vehicle 100 may be detected based on a part of the portion of the upper right pixel 14ru captured by the upper right region 140ru. Accordingly, when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the obstacle detection unit 16 detects the upper left area 140lu of the upper left pixel 14lu in the image data Im. The preceding vehicle 100 may be detected based on a part of the imaged part and a part imaged by another region. Further, when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6 turns rightward R, the obstacle detection unit 16 uses the upper right area 140ru of the upper right pixel 14ru in the image data Im. The preceding vehicle 100 may be detected based on a part of the imaged part and a part imaged by another region. For example, in FIG. 9, the preceding vehicle 100 exists over a portion imaged by the upper right area 140ru and the lower right area 140rd in the converted image data Imt. Therefore, when the lean vehicle body 60 is tilted rightward R because the

lean vehicles

6 and 6a (not shown) turn rightward R, the obstacle detection unit 16 (not shown) Based on at least a part of the image taken by the upper right region 140ru of the upper right pixel 14ru and a part of the image taken by the lower right region 140rd of the upper right pixel 14ru in the image data Im taken by the pixel 100 may be detected. When the lean vehicle body 60 is tilted leftward L because the

lean vehicles

6 and 6a (not shown) turn leftward L, the obstacle detection unit 16 (not shown) The preceding vehicle 100 is detected based on at least a part of the image captured by the upper left area 140lu of the upper left pixel 14lu and a part of the image captured by the lower left area 140ld of the image data Im captured by the pixel Is also good. As described above, the area in which the obstacle detection is performed may change according to the distance from the

lean vehicle

6, 6a to the preceding vehicle 100 and the lean vehicle inclination angle θ.

It should be noted that the obstacle detection unit 16 determines that when the lean vehicle body 60 is tilted leftward L because the lean vehicle 6 turns leftward L, the image data Im captured by a plurality of pixels "Detecting the preceding vehicle 100 based on at least a part of the portion captured by the upper left region 140lu of the upper left pixel 14lu" means that the obstacle detector 16 detects the upper left pixel of the image data Im captured by the plurality of pixels. The preceding vehicle 100 may be detected based on all of the part imaged by the upper left area 140lu of the 14lu, or the obstacle detector 16 may detect the preceding vehicle 100 based on the upper left pixel 14lu of the image data Im captured by a plurality of pixels. The preceding vehicle 100 may be detected based on a part of the part imaged by the area 140lu. In addition, the “obstacle detection unit 16 determines whether the lean vehicle 6 turns rightward R and the lean vehicle body 60 is tilted rightward R. "Detecting the preceding vehicle 100 based on at least a part of the portion of the upper right pixel 14ru captured by the upper right region 140ru" means that the obstacle detector 16 detects the upper right pixel of the image data Im captured by the plurality of pixels. The preceding vehicle 100 may be detected based on all of the part imaged by the upper right area 140ru of the 14ru, or the obstacle detector 16 may detect the preceding vehicle 100 by the upper right pixel 14ru of the image data Im captured by a plurality of pixels. The preceding vehicle 100 may be detected based on a part of the part imaged by the area 140ru.

In the lean vehicle

obstacle detection devices

10a and 10b, the data tilt converter 32 rotates the entire image data Im. However, the data tilt converter 32 may rotate only the area in the image data Im where the obstacle is to be detected. That is, when the lean vehicle body 60 is tilted to the left L because the lean vehicle 6a turns to the left L, the data tilt converter 32 outputs the image data Im captured by a plurality of pixels. At least a part of the part captured by the upper left region 140lu of the upper left pixel 14lu may be subjected to data conversion based on the lean vehicle inclination angle θ. In addition, the data inclination conversion unit 32 outputs the image data Im captured by a plurality of pixels when the lean vehicle body 60 is tilted rightward R because the lean vehicle 6a turns rightward R. At least a part of the part imaged by the upper right region 140ru of the upper right pixel 14ru may be subjected to data conversion based on the lean vehicle inclination angle θ.

The power source 66 of the

lean vehicles

6, 6a is not limited to the engine, but may be an electric motor or a combination of the engine and the electric motor. Further, the

lean vehicles

6, 6a may be a bicycle without the power source 66. Further, the

lean vehicles

6, 6a may be electric assist bicycles that run with human power and driving force of an electric motor.

6, 6a:

lean vehicle

10, 10a, 10b, 10c: lean vehicle obstacle detector 12: imaging unit 14: imaging element 14H: horizontal pixel 14V: vertical pixel 14ld: lower left pixel 14lu: upper left pixel 14rd: lower right pixel 14ru: upper right pixel 16:

obstacle detection unit

18, 18a, 18b: case 30: lean vehicle inclination angle acquisition unit 32: data inclination conversion unit 34: area determination unit 36: obstacle detection unit calculation unit 40: lean vehicle inclination angle Sensor 50: image tilt angle acquisition unit 60: lean vehicle body 62: front wheel 64: rear wheel 66: power source 68: steering mechanism 100: preceding vehicle 140ld: lower left area 140lu: upper left area 140rd: lower right area 140ru: upper right area 150 : Central areas A1 to A3: Areas F1, F2, F3: Frame H0: Horizontal line Im: A Jideta Imt: conversion image data

Claims

When the lean vehicle turns leftward in the lean vehicle, it leans leftward in the lean vehicle, and when the lean vehicle turns rightward in the lean vehicle, it tilts rightward in the lean vehicle. An obstacle detection device for a lean vehicle, which is used for the lean vehicle including the lean vehicle body and detects an obstacle existing on a road located in front of the lean vehicle from the lean vehicle,
The lean vehicle obstacle detection device includes an imaging unit (A) and an obstacle detection unit (B).
(A)
The image capturing unit includes an image sensor having a plurality of pixels, and outputs image data of a space located in front of the lean vehicle from the lean vehicle imaged by the image sensor,
The image sensor is provided at the center in the left-right direction of the lean vehicle body of the lean vehicle, so as to incline leftward in the lean vehicle or rightward in the lean vehicle together with the lean vehicle body,
The image sensor,
When the lean vehicle body is in an upright state, a horizontal pixel that captures a horizontal line located in front of the lean vehicle in the lean vehicle,
When the lean vehicle body is in an upright state, a vertical pixel that images a vertical line located in front of the lean vehicle at the center of the lean vehicle body in the left-right direction in the lean vehicle body,
When the lean vehicle body is in an upright state, an upper left pixel provided on the lean vehicle above the horizontal pixel and on the left side of the lean vehicle above the vertical pixel,
When the lean vehicle body is in an upright state, an upper right pixel provided in the lean vehicle above the horizontal pixel and in the lean vehicle above the vertical pixel,
When the lean vehicle body is in an upright state, a lower left pixel provided in the lean vehicle below the horizontal pixel and in the lean vehicle below the vertical pixel,
When the lean vehicle body is in an upright state, a lower right pixel provided in the lean vehicle below the horizontal pixel and in the lean vehicle from the vertical pixel,
including.
(B)
The obstacle detection unit is configured such that, when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the image captured by the plurality of pixels. Detecting the obstacle present on the road located in front of the lean vehicle from the lean vehicle based on a part of the part imaged by at least the upper left region of the upper left pixel of the data,
The obstacle detection unit is configured such that, when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the image captured by the plurality of pixels. Based on at least a part of the portion of the data captured by the upper right region of the upper right pixel, the obstacle existing on the road located before the lean vehicle in the lean vehicle is detected.
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, at least a part of the obstacle is the leaning vehicle. Detecting the obstacle imaged by the upper left area of the upper left pixel,
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, at least a part of the obstacle is the lean vehicle. Detecting the obstacle captured by the upper right area of the upper right pixel,
The lean vehicle obstacle detection device according to claim 1.
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. Includes a lean vehicle tilt angle acquisition unit that acquires a physical quantity related to the lean vehicle tilt angle indicating the angle at which the lean vehicle body is tilted when
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of the portion of the image data captured by the upper left region of the upper left pixel, and the lean vehicle inclination angle acquired by the lean vehicle inclination angle acquisition unit, the lean vehicle from the lean vehicle. Detecting the obstacle present on the road located in front of
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of the portion of the image data captured by the upper right region of the upper right pixel and the lean vehicle inclination angle acquired by the lean vehicle inclination angle acquisition unit, the lean vehicle is more lean than the lean vehicle. Detecting the obstacle present on the road located in front of,
An obstacle detection device for a lean vehicle according to claim 1 or 2.
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. At least a part of the portion of the image data captured by the upper left region of the upper left pixel is converted based on the lean vehicle tilt angle obtained by the lean vehicle tilt angle obtaining unit, and the lean vehicle is converted to the lean vehicle. When the lean vehicle body is tilted rightward in the lean vehicle for turning rightward in the vehicle, at least the upper right region of the upper right pixel in the image data captured by the plurality of pixels A part of the imaged part is taken as the lean vehicle inclination angle. Further comprising a data inclined converter for data conversion based on the lean vehicle inclination angle acquired by section,
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. Is present on the road located before the lean vehicle in the lean vehicle based on the image data of the space located in the lean vehicle before the lean vehicle converted by the data tilt conversion unit. Detecting the obstacle,
The lean vehicle obstacle detection device according to claim 3.
The lean vehicle inclination angle acquisition unit acquires a physical quantity related to the lean vehicle inclination angle from a sensor provided outside the lean vehicle obstacle detection device,
The obstacle detection device for a lean vehicle according to claim 4.
The obstacle detection unit may be configured such that the lean vehicle body is inclined leftward in the lean vehicle or rightward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle or rightward in the lean vehicle. When, during the lean vehicle includes an image tilt angle acquisition unit that acquires a physical quantity related to the lean vehicle tilt angle based on the image data of the space located in front of the lean vehicle,
The obstacle detection device for a lean vehicle according to claim 4.
The image sensor is provided on the lean vehicle body such that when the lean vehicle body is in an upright state, the direction of the optical axis of the image sensor is forward in the lean vehicle and downward in the lean vehicle. Yes,
The obstacle detection device for a lean vehicle according to any one of claims 1 to 6.
The lean vehicle obstacle detection device,
A first case accommodating the imaging unit;
A second case accommodating the obstacle detection unit;
Further comprising
An obstacle detection device for a lean vehicle according to any one of claims 1 to 7.
The lean vehicle obstacle detection device,
A third case accommodating the imaging unit and the obstacle detection unit,
Further prepare,
An obstacle detection device for a lean vehicle according to any one of claims 1 to 7.
When the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle that exists only in the portion captured by the upper left pixel in the image data of the space located at
When the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle that exists only in the portion imaged by the upper right pixel of the image data of the space located at
The lean vehicle obstacle detection device according to claim 1.
When the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle that exists only in the portion imaged by the upper left region of the upper left pixel in the image data of the space located at,
When the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the obstacle detection unit is located in front of the lean vehicle in the lean vehicle. Detecting the obstacle existing only in the portion imaged by the upper right region of the upper right pixel in the image data of the space located at,
An obstacle detection device for a lean vehicle according to claim 10.
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of a portion of the image data captured by the upper left region of the upper left pixel and a portion of a portion captured by the lower left region of the upper left pixel, the lean vehicle is positioned before the lean vehicle in the lean vehicle. Detecting the obstacle on the road,
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. A position before the lean vehicle in the lean vehicle based on at least a part of the part captured by the upper right area of the upper right pixel and a part of the part captured by the lower right area of the upper right pixel in the image data. Detecting the obstacle present on the road to
The lean vehicle obstacle detection device according to claim 1.
The obstacle detection unit is configured such that when the lean vehicle body is tilted leftward in the lean vehicle so that the lean vehicle turns leftward in the lean vehicle, the lean image is captured by the plurality of pixels. The obstacle existing on a road positioned before the lean vehicle in the lean vehicle based on at least a part of a part captured by the upper left pixel and a part of a part captured by the lower left pixel in the image data. Detect objects
The obstacle detection unit is configured such that when the lean vehicle body is tilted rightward in the lean vehicle so that the lean vehicle turns rightward in the lean vehicle, the lean image is captured by the plurality of pixels. Based on at least a part of a part imaged by the upper right pixel and a part of a part imaged by the lower right pixel of the image data, the lean vehicle is present on a road positioned before the lean vehicle in the lean vehicle. Detect obstacles,
The lean vehicle obstacle detection device according to claim 1.