Changing a braking force of a lean vehicle based on a collision possibility

1 . A controller ( 60 ) that controls behavior of a lean vehicle ( 100 ), the controller comprising:

a computer configured to:

perform a brake control to increase a braking force of the lean vehicle ( 100 ) based on a collision possibility that is determined in response to an output result from an environment sensor ( 44 ); and

set a distribution of braking force between the braking force applied to a front wheel ( 3 ) and the braking force applied to a rear wheel ( 4 ) in the brake control, wherein

the computer, in the brake control, controls the braking force applied to the front wheel ( 3 ) and the braking force applied to the rear wheel ( 4 ) based on the distribution of braking force set by the computer;

the computer sets the distribution of braking force based on posture information of the lean vehicle ( 100 );

the posture information includes pitching angle information of the lean vehicle ( 100 ); and

the computer, when a pitching angle included in the pitching angle information has a negative value, sets a target ratio of the distribution of braking force wherein the braking force applied to the rear wheel ( 4 ) is increased and the target ratio of the braking force applied to the front wheel ( 3 ) is reduced as an absolute value of the pitching angle rises.

2 . The controller ( 60 ) according to claim 1 , wherein

the posture information includes lean angle information of the lean vehicle ( 100 ).

3 . The controller ( 60 ) according to claim 1 , wherein

the posture information includes acceleration/deceleration information of the lean vehicle ( 100 ).

4 . The controller ( 60 ) according to claim 1 , wherein

the computer sets the distribution of braking force based on an operation amount of the brake control.

5 . The controller ( 60 ) according to claim 1 , wherein

the computer sets the distribution of braking force based on a degree of slope of a road along which the lean vehicle ( 100 ) is traveling.

6 . The controller ( 60 ) according to claim 1 , wherein

the computer, in the brake control, distributes a target braking force of the lean vehicle ( 100 ) to the front wheel ( 3 ) and the rear wheel ( 4 ) at a target ratio.

7 . The controller ( 60 ) according to claim 1 , wherein

the computer, in the brake control, sets the distribution of braking force such that the braking force applied to the front wheel ( 3 ) becomes a target braking force of the lean vehicle ( 100 ) and that a ratio between the braking force applied to the front wheel ( 3 ) and the braking force applied to the rear wheel ( 4 ) becomes a target ratio.

8 . The controller ( 60 ) according to claim 1 , wherein

the computer, in the brake control, sets an adjusted braking force for the rear wheel ( 4 ) based on a magnitude relationship between an increased braking force on the front wheel ( 3 ) and a target braking force of the lean vehicle ( 100 ).

9 . A control method for controlling behavior of a lean vehicle ( 100 ), the control method comprising:

performing, via a computer, a brake control to increase a braking force applied to the lean vehicle ( 100 ) based on a collision possibility that is determined in response to an output result from an environment sensor ( 44 ); and

setting, via the computer, a distribution of braking force between the braking force applied to a front wheel ( 3 ) and the braking force applied to a rear wheel ( 4 ) in the brake control based on a maximum value of a braking force that can be generated on the front wheel and a magnitude relationship between the maximum value and a target braking force of the lean vehicle ( 100 ), wherein

the computer, in the brake control, controls the braking force applied to the front wheel ( 3 ) and the braking force applied to the rear wheel ( 4 ) based on the distribution of braking force set by the computer;

the computer sets the distribution of braking force based on posture information of the lean vehicle ( 100 );

the posture information includes pitching angle information of the lean vehicle ( 100 ); and

the computer, when a pitching angle included in the pitching angle information has a negative value, sets a target ratio of the distribution of braking force whereinsuch that the braking force applied to the rear wheel ( 4 ) is increased and the target ratio of the braking force applied to the front wheel ( 3 ) is reduced as an absolute value of the pitching angle rises.

10 . The control method of claim 9 , wherein the target braking force of the lean vehicle ( 100 ) is based on an inter-vehicular distance between the lean vehicle ( 100 ) and a preceding vehicle detected by the environment sensor ( 44 ) and a relative speed of the lean vehicle ( 100 ) to the preceding vehicle.

11 . A controller ( 60 ) that controls behavior of a lean vehicle ( 100 ), the controller comprising:

a computer configured to:

perform a brake control to increase a braking force of the lean vehicle ( 100 ) based on a collision possibility that is determined in response to an output result from an environment sensor ( 44 ),

receive posture information of the lean vehicle ( 100 ) from an inertial measurement unit, wherein the posture information includes pitching angle information of the lean vehicle ( 100 ),

set a distribution of braking force between the braking force applied to a front wheel ( 3 ) and the braking force applied to a rear wheel ( 4 ) in the brake control based on the pitching angle information included in the posture information, a maximum value of a braking force that can be generated on the front wheel, and a magnitude relationship between the maximum value and a target braking force of the lean vehicle ( 100 ), and

control the braking force applied to the front wheel ( 3 ) and the braking force applied to the rear wheel ( 4 ) based on the distribution of braking force set by the computer.