Controller for rider-assistance system, rider-assistance system, and control method for rider-assistance system

A rider-assistance system (1) mounted to a lean vehicle (100), the rider-assistance system (1) comprising:

• at least one surrounding environment detector sensor (11a, 11b, 11c) configured to output surrounding environment information of the lean vehicle (100), and
• an electronic controller (20) configured to:
• acquire a first target (T1) located on a side of a travel line (DL) of the lean vehicle (100) based on the surrounding environment information, wherein the surrounding environment information includes first target information for the first target (T1);
• initiate a first rider-assistance operation of the rider-assistance system (1) for assisting with driving by a rider of the lean vehicle (100) according to the acquired first target information;
• acquire a second target (T2) located on the travel line (DL) of the lean vehicle (100) based on the surrounding environment information, wherein the surrounding environment information includes second target information for the second target (T2);
• initiate a second rider-assistance operation of the rider-assistance system (1) for assisting with driving by the rider according to the acquired second target information;
• acquire a travel posture of the lean vehicle (100) based on travel posture information of the lean vehicle (100);
• and
• wherein the electronic controller is configured to prohibit the initiation of the first rider-assistance operation while permitting the initiation of the second rider-assistance operation when the travel posture information indicates that leaning of the lean vehicle (100) exceeds a reference and permit the initiation of the first rider-assistance operation and the initiation of the second rider-assistance operation when the travel posture information indicates that leaning of the lean vehicle (100) does not exceed the reference.

A control method for a rider-assistance system (1) that is mounted to a lean vehicle (100) and includes at least one surrounding environment detector sensor (11a, 11b, 11c) for outputting surrounding environment information of the lean vehicle (100), the control method comprising:

• a first acquisition step (S103) in which an electronic controller (20) acquires a first target (T1) located on a side of a travel line (DL) of the lean vehicle (100) based on the surrounding environment information, wherein the surrounding environment information includes first target information for the first target (T1);
• a first execution step (S104, S105) in which the electronic controller (20) initiates a first rider-assistance operation of the rider-assistance system (1) for assisting with driving by a rider of the lean vehicle (100) according to the acquired first target information;
• a second acquisition step (S106) in which the electronic controller (20) acquires a second target (T2) located on the travel line (DL) of the lean vehicle (100)) based on the surrounding environment information, wherein the surrounding environment information includes second target information for the second target (T2);
• a second execution step (S107, S108) in which the electronic controller (20) initiates a second rider-assistance operation of the rider-assistance system (1) for assisting with driving by the rider according to the acquired second target information;
• a third acquisition step (S101) in which the electronic controller (20) acquires a travel posture of the lean vehicle (100) based on travel posture information of the lean vehicle (100);
• and
• when the travel posture information, which is acquired in the third acquisition step (S101), indicates that leaning of the lean vehicle (100) exceeds a reference, the electronic controller (20) prohibits the initiation of the first rider-assistance operation and permits the initiation of the second rider-assistance operation and when the travel posture information indicates that leaning of the lean vehicle (100) does not exceed the reference, permit the initiation of the first rider-assistance operation and the initiation of the second rider-assistance operation.