US 11,654,929 B2
Straddle type vehicle and control apparatus
Hiroshi Maeda, Tokyo (JP); Kazuyuki Fukaya, Tokyo (JP); Kineo Tomura, Tokyo (JP); Hiroaki Uchisasai, Tokyo (JP); and Takayuki Abe, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 3, 2021, as Appl. No. 17/190,644.
Claims priority of application No. JP2020-041174 (JP), filed on Mar. 10, 2020.
Prior Publication US 2021/0284190 A1, Sep. 16, 2021
Int. Cl. B60W 50/14 (2020.01); B60W 30/18 (2012.01); B60W 40/12 (2012.01)
CPC B60W 50/14 (2013.01) [B60W 30/18163 (2013.01); B60W 40/12 (2013.01); B60W 2050/146 (2013.01); B60W 2552/53 (2020.02); B60Y 2200/12 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A two-wheeled vehicle comprising:
a control circuit including at least one processor and at least one storage device and configured to set a warning line along a boundary line marked on a road between a traveling lane of a self-vehicle and an oncoming lane; and
a sensor configured to detect a difficult-to-travel region in the traveling lane,
wherein the control circuit is configured to determine whether it is difficult or possible for the self-vehicle to pass between the boundary line marked on the road and the difficult-to-travel region, when the difficult-to-travel region is detected by the sensor,
if it is determined that it is difficult for the self-vehicle to pass between the boundary line marked on the road and the difficult-to-travel region, the control circuit changes a position of the warning line along the boundary line marked on the road to a position shifted from the boundary line toward the oncoming lane side,
if it is determined that it is possible for the self-vehicle to pass between the boundary line marked on the road and the difficult-to-travel region, the control circuit does not change the position of the warning line along the boundary line marked on the road, and
wherein if the difficult-to-travel region is due to parking or stopping of a vehicle in the traveling lane, it is determined whether it is difficult or possible for the self-vehicle to pass between the boundary line marked on the road and the difficult-to-travel region, based on a type of the parked or stopped vehicle in the traveling lane.