Controller and control method
The present invention provides a controller and a control method capable of improving safety of a lean vehicle. According to a controller ( 30 ) and a control method of the present invention, an execution section of the controller executes an operation that causes the lean vehicle to execute a cruise control based on a positional relationship information that is information about a positional relationship between the lean vehicle and a preceding vehicle preceding the lean vehicle. While the operation is enabled by a rider of the lean vehicle, the execution section changes a ratio between a braking force generated in a front wheel of the lean vehicle and a braking force generated in a rear wheel based on a speed information of the lean vehicle.
1 . A controller ( 30 ) configured to maneuver a lean vehicle ( 1 ), the controller comprising:
an execution section ( 32 ) configured to execute an operation that causes the lean vehicle ( 1 ) to execute a cruise control based on a positional relationship information that is information about a positional relationship between the lean vehicle ( 1 ) and a preceding vehicle preceding the lean vehicle ( 1 ), wherein
while the operation is enabled by a rider of the lean vehicle ( 1 ), the execution section ( 32 ) changes a ratio between a braking force generated in a front wheel ( 2 ) of the lean vehicle ( 1 ) and a braking force generated in a rear wheel ( 3 ) based on a speed information of the lean vehicle ( 1 ).
2 . The controller according to claim 1 , wherein
the execution section ( 32 ) executes a second operation when a specified operation is performed by the rider of the lean vehicle ( 1 ) while a first operation is enabled by the rider, the first operation is the operation that causes the lean vehicle ( 1 ) to execute the cruise control, the second operation is an operation that automatically stops the lean vehicle ( 1 ) regardless of the positional relationship information, and
the execution section ( 32 ), during the second operation, changes the ratio between the braking force generated in the front wheel ( 2 ) and the braking force generated in the rear wheel ( 3 ) based on the speed information.
3 . The controller according to claim 2 , wherein
the execution section ( 32 ) executes the first operation instead of the second operation when an operation state information acquired during the second operation indicates that an accelerator operation section ( 21 ) is operated, the operation state information is information about an operation state of the accelerator operation section ( 21 ) of the lean vehicle ( 1 ) operated by the rider.
4 . The controller according to claim 3 , wherein
when the execution section ( 32 ) executes the first operation instead of the second operation, the execution section ( 32 ) uses a setting information, the setting information is information about a setting set by the rider in the first operation that has been executed before the second operation is executed.
5 . The controller according to claim 1 , wherein
the execution section ( 32 ) increases a distribution ratio of the braking force to the rear wheel ( 3 ) with the speed information indicating that the lean vehicle ( 1 ) travels at a lower speed lower to be higher than the distribution ratio of the braking force to the rear wheel ( 3 ) with the speed information indicating that the lean vehicle ( 1 ) travels at a higher speed, the lower speed is a speed lower than a reference speed, and the higher speed is a speed higher than the reference speed.
6 . The controller according to claim 1 , wherein
the execution section ( 32 ) changes the ratio between the braking force generated in the front wheel ( 2 ) and the braking force generated in the rear wheel ( 3 ) based on a road surface information in addition to the speed information.
7 . The controller according to claim 6 , wherein
the road surface information includes a gradient information that is information about a gradient of a road surface.
8 . The controller according to claim 1 , wherein
the execution section ( 32 ) changes the ratio between the braking force generated in the front wheel ( 2 ) and the braking force generated in the rear wheel ( 3 ) based on a travel posture information of the lean vehicle ( 1 ) in addition to the speed information.
9 . The controller according to claim 1 , wherein
when the speed information indicates that the lean vehicle ( 1 ) is in a slow travel state, the execution section ( 32 ) increases a distribution ratio of the braking force to the rear wheel ( 3 ) to be higher than a distribution ratio of the braking force to the front wheel ( 2 ).
10 . A control method for maneuvering a lean vehicle ( 1 ), the control method comprising:
executing, using an execution section ( 32 ) of a controller ( 30 ), an operation that causes the lean vehicle ( 1 ) to execute a cruise control based on a positional relationship information that is information about a positional relationship between the lean vehicle ( 1 ) and a preceding vehicle preceding the lean vehicle ( 1 ), wherein
while the operation is enabled by a rider of the lean vehicle ( 1 ), the execution section ( 32 ) changes a ratio between a braking force generated in a front wheel ( 2 ) of the lean vehicle ( 1 ) and a braking force generated in a rear wheel ( 3 ) based on a speed information of the lean vehicle ( 1 ).