Abstract: A driving assistance apparatus according to an embodiment includes a vehicle height adjusting mechanism that adjusts vehicle height of a vehicle; a progress parameter acquiring unit that acquires a progress parameter expressing a degree of progression until the vehicle reaches a target object in front of the vehicle; and a control section that controls the vehicle height adjusting mechanism based on the progress parameter.

Abstract: The present invention provides a saddle ride type vehicle including a sensing unit configured to sense a four-wheel vehicle that is present in front of a self-vehicle and is traveling in a travel lane of the self-vehicle, and a control unit configured to, in a case where the four-wheel vehicle is sensed by the sensing unit, perform follow-travel control for causing traveling of the self-vehicle to follow traveling of the four-wheel vehicle, wherein the sensing unit senses a vehicle width of the four-wheel vehicle, and the control unit, in the follow-travel control, controls a travel position in a vehicle width direction of the self-vehicle so that at least a portion of the self-vehicle falls within a region within the vehicle width of the four-wheel vehicle.

Abstract: A motorcycle includes a steering actuator configured to steer a front wheel, an actuator control unit configured to control the steering actuator, a collision determination unit configured to determine whether or not a collision has occurred in a host vehicle, and a riding determination unit configured to determine whether or not an occupant is riding the host vehicle. When it is determined that a collision has occurred and determined that no occupant is riding the host vehicle, the actuator control unit executes a step of positioning the front wheel at a position deviating from a central position.

Abstract: A straddle type vehicle includes a setting unit configured to set a warning line along a boundary between a traveling lane of a self-vehicle and an oncoming lane, a warning unit configured to issue a warning if the self-vehicle has crossed the warning line, a detection unit configured to detect a difficult-to-travel region in the traveling lane, and a determination unit configured to determine whether it is difficult or possible for the self-vehicle to pass between the boundary and the difficult-to-travel region. If it is determined by the determination unit that it is difficult for the self-vehicle to pass, the setting unit changes a position of the warning line to a position shifted from the boundary toward the oncoming lane side.

Abstract: A vehicle height adjusting apparatus according to one aspect includes: a vehicle height adjusting member that adjusts height of a seat of a saddle-type vehicle, using hydraulic pressure; an oil supplying portion that supplies oil to the vehicle height adjusting member, using a motor; and a control section that estimates a load applied to the vehicle height adjusting member, from a current supplied to the motor and a stroke correspondence quantity of the vehicle height adjusting member, and controls the oil supplying portion based on the load to adjust the height of the seat.

Abstract: A saddle-riding vehicle includes a front wheel suspension device which supports a steering wheel (front wheel) and a steering handle (bar handle 4), a chassis frame which supports the front wheel suspension device to be steerable, a handle lock mechanism 60 which locks the steering of the front wheel suspension device with respect to the chassis frame at a predetermined handle lock position P1, a steering actuator 43 which applies an assist torque to the front wheel suspension device, and a control device 23 which controls the driving of the steering actuator 43. The control device 23 operates the steering actuator 43 so that the front wheel suspension device is turned to the handle lock position P1 when detecting a predetermined lock standby state.

Abstract: This saddle-type vehicle includes a warning vibration generator (205) that generates a predetermined vibration to issue a warning to a driver, the warning vibration generator (205) includes a warning selection unit (210) that selects a predetermined warning in accordance with a strength of driving assist control, and, in accordance with the warning selected by the warning selection unit (210), the warning vibration generator (205) generates a vibration (a haptic vibration) as a warning in a frequency band that avoids a vibration frequency common to a motorcycle.

Abstract: The present invention provides a saddle ride type vehicle including a sensing unit configured to sense a travel lane of a self-vehicle; and a control unit configured to control a travel position in a vehicle width direction of the self-vehicle so that the self-vehicle travels within the travel lane of the self-vehicle sensed by the sensing unit and on a side closer to an edge than a center of the travel lane.

Abstract: The present invention provides a saddle ride type vehicle including a sensing unit configured to sense a four-wheel vehicle that is present in front of a self-vehicle and is traveling in a travel lane of the self-vehicle, and a control unit configured to, in a case where the four-wheel vehicle is sensed by the sensing unit, perform follow-travel control for causing traveling of the self-vehicle to follow traveling of the four-wheel vehicle, wherein the sensing unit senses a vehicle width of the four-wheel vehicle, and the control unit, in the follow-travel control, controls a travel position in a vehicle width direction of the self-vehicle so that at least a portion of the self-vehicle falls within a region within the vehicle width of the four-wheel vehicle.

Abstract: A straddle type vehicle includes a setting unit configured to set a warning line along a boundary between a traveling lane of a self-vehicle and an oncoming lane, a warning unit configured to issue a warning if the self-vehicle has crossed the warning line, a detection unit configured to detect a difficult-to-travel region in the traveling lane, and a determination unit configured to determine whether it is difficult or possible for the self-vehicle to pass between the boundary and the difficult-to-travel region. If it is determined by the determination unit that it is difficult for the self-vehicle to pass, the setting unit changes a position of the warning line to a position shifted from the boundary toward the oncoming lane side.

Abstract: A driving assistance apparatus according to an embodiment includes a vehicle height adjusting mechanism that adjusts vehicle height of a vehicle; a progress parameter acquiring unit that acquires a progress parameter expressing a degree of progression until the vehicle reaches a target object in front of the vehicle; and a control section that controls the vehicle height adjusting mechanism based on the progress parameter.

Abstract: A vehicle height adjusting apparatus according to one aspect includes: a vehicle height adjusting member that adjusts height of a seat of a saddle-type vehicle, using hydraulic pressure; an oil supplying portion that supplies oil to the vehicle height adjusting member, using a motor; and a control section that estimates a load applied to the vehicle height adjusting member, from a current supplied to the motor and a stroke correspondence quantity of the vehicle height adjusting member, and controls the oil supplying portion based on the load to adjust the height of the seat.

Abstract: A motorcycle includes a steering actuator configured to steer a front wheel, an actuator control unit configured to control the steering actuator, a collision determination unit configured to determine whether or not a collision has occurred in a host vehicle, and a riding determination unit configured to determine whether or not an occupant is riding the host vehicle. When it is determined that a collision has occurred and determined that no occupant is riding the host vehicle, the actuator control unit executes a step of positioning the front wheel at a position deviating from a central position.

Abstract: A vehicle includes a suspension that supports a front wheel thereon, and a road surface state decision unit that decides a road surface state by detection of an acceleration sensor. The acceleration sensor is provided at a lower portion of the suspension and is capable of detecting an acceleration at least in a one-axis direction. The suspension is a front fork that supports the front wheel of the saddle riding vehicle. The front fork includes a bottom case that connects a lower portion of the front fork and an axle of the front wheel to each other. The acceleration sensor is attached to the bottom case.

Abstract: A saddle-type vehicle includes a vehicle body frame including a main frame extending obliquely rearward and downward from a head pipe, and a seat frame extending rearward from the main frame and supporting a riding seat, wherein a front wheel is supported by a front portion of the vehicle body frame via a front fork, and a rear wheel is supported by a rear portion of the vehicle body frame via a swing arm, and a vehicle height adjustment device provided below the seat frame to elastically support the seat frame and configured to adjust a height of the seat frame. The vehicle height adjustment device includes an actuator unit and a cushion unit connected with each other by a pipe. The actuator unit has a stepped portion, and at least a part of the cushion unit is disposed in a space formed by the stepped portion.

Abstract: A saddle-type vehicle includes a vehicle body frame including a main frame extending obliquely rearward and downward from a head pipe, a down frame extending downward from the head pipe and supporting an engine, and a seat frame extending rearward from the main frame and supporting a riding seat, wherein a front wheel is supported by a front portion of the vehicle body frame via a front fork, and a rear wheel is supported by a rear portion of the vehicle body frame via a swing arm, and a vehicle height adjustment device provided below the seat frame to elastically support the seat frame and configured to adjust a height of the seat frame. The vehicle height adjustment device includes an actuator unit and a cushion unit. The actuator unit is disposed between the cushion unit and the engine.

Abstract: A pulser ring mounting structure includes: a wheel provided with a hub, the hub being journaled to a rear wheel axle; and a pulser ring, the pulser ring being mounted with respect to the wheel, the pulser ring being provided with an annular detected portion detected by a wheel speed sensor. In the pulser ring mounting structure, the pulser ring is provided with a rib, the rib extending to be located close to a receiving portion, the receiving portion being provided with respect to an outer surface of the hub.

Abstract: A vehicle includes a suspension that supports a front wheel thereon, and a road surface state decision unit that decides a road surface state by detection of an acceleration sensor. The acceleration sensor is provided at a lower portion of the suspension and is capable of detecting an acceleration at least in a one-axis direction. The suspension is a front fork that supports the front wheel of the saddle riding vehicle. The front fork includes a bottom case that connects a lower portion of the front fork and an axle of the front wheel to each other. The acceleration sensor is attached to the bottom case.

Abstract: A saddle-type vehicle includes a vehicle body frame including a main frame extending obliquely rearward and downward from a head pipe, a down frame extending downward from the head pipe and supporting an engine, and a seat frame extending rearward from the main frame and supporting a riding seat, wherein a front wheel is supported by a front portion of the vehicle body frame via a front fork, and a rear wheel is supported by a rear portion of the vehicle body frame via a swing arm, and a vehicle height adjustment device provided below the seat frame to elastically support the seat frame and configured to adjust a height of the seat frame. The vehicle height adjustment device includes an actuator unit and a cushion unit. The actuator unit is disposed between the cushion unit and the engine.

Abstract: A saddle-type vehicle includes a vehicle body frame including a main frame extending obliquely rearward and downward from a head pipe, and a seat frame extending rearward from the main frame and supporting a riding seat, wherein a front wheel is supported by a front portion of the vehicle body frame via a front fork, and a rear wheel is supported by a rear portion of the vehicle body frame via a swing arm, and a vehicle height adjustment device provided below the seat frame to elastically support the seat frame and configured to adjust a height of the seat frame. The vehicle height adjustment device includes an actuator unit and a cushion unit connected with each other by a pipe. The actuator unit has a stepped portion, and at least a part of the cushion unit is disposed in a space formed by the stepped portion.