A brake assist control device (1011) is configured to acquire (i) at least one of a leaning angular speed that is a time change rate of the leaning angle of the leaning vehicle (1001) or a leaning angular acceleration that is a time change rate of the leaning angular speed of the leaning vehicle (1001), (ii) a margin acquired based on the relationship between the obstacle (2001) and the host vehicle (1001), and (iii) a brake operation amount indicating an amount of a brake operation by the rider. The brake assist control device (1011) controls the assisting braking force so that a first braking force which is the maximum braking force generated in response to a first brake operation amount performed by the rider in a first scene being larger than a second braking force which is the maximum braking force generated in response to the first brake operation amount performed by the rider in a second scene, based on the at least one of the leaning angular speed or the leaning angular acceleration, the margin acquired based on the relationship between the obstacle (2001) and a host vehicle (1001), and the brake operation amount performed by the rider, the first scene being a scene in which the rider deals with an obstacle (2001) by a braking force generated by a brake operation by the rider without changing a traveling direction of the leaning vehicle (1001), and the second scene being a scene in which the rider deals with the obstacle (2001) by both a change of the traveling direction of the leaning vehicle and the braking force generated by the brake operation by the rider.
LEANING VEHICLE COMPRISING BRAKE ASSIST CONTROL DEVICE
NEIGEFAHRZEUG MIT BREMSUNTERSTÜTZUNGSSTEUERVORRICHTUNG
VÉHICULE À INCLINAISON COMPRENANT UN DISPOSITIF DE COMMANDE D'ASSISTANCE AU FREINAGE
2023-09-13
Patent
Electronic Resource
English
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS |
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