Control system, straddle type vehicle, control method, and storage medium

1 . A control system of a straddle type vehicle including a front suspension mechanism and a rear suspension mechanism, comprising:

a detector configured to detect a stroke speed of the front suspension mechanism;

a controller configured to control a damping force of the rear suspension mechanism; and

at least one processor with a memory comprising instructions, that when executed by the at least one processor, cause the at least one processor to:

determine an operation state of the vehicle; and

transition a control mode of the rear suspension mechanism controlled by the controller from a first mode to a second mode, when determining that the operation state of the vehicle is a first state in which a rear wheel of the vehicle is slipping or a second state in which the vehicle is doing a wheelie,

wherein the first mode is a mode of changing the damping force of the rear suspension mechanism according to a detection result of the detector, and the second mode is a mode of fixing the damping force of the rear suspension mechanism,

wherein the at least one processor is configured to change a transition time spent for transition of the control mode from the first mode to the second mode, depending on the operation state.

2 . The control system according to claim 1 , wherein

the instructions, when executed by the at least one processor, further cause the at least one processor to change the transition time depending on the operation state such that the transition time is shorter in the first operation state than in the second operation state.

3 . The control system according to claim 1 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to:

acquire information from a sensor group provided in the vehicle, and

change the transition time based on the acquired information, for each operation state.

4 . The control system according to claim 3 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to change an index value used to change the transition time, among a plurality of types of index values included in the acquired information, depending on the operation state.

5 . The control system according to claim 3 , wherein

the sensor group includes a first sensor configured to detect a yaw rate of the vehicle, and

the instructions, when executed by the at least one processor, further cause the at least one processor to, when determining that the first state has been started, determine the transition time based on the yaw rate acquired from the first sensor.

6 . The control system according to claim 5 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to, when determining that the first state has been started, determine the transition time such that the transition time becomes shorter as the yaw rate acquired from the first sensor increases.

7 . The control system according to claim 3 , wherein

the sensor group includes a second sensor configured to detect a wheel speed of a rear wheel of the vehicle, and

the instructions, when executed by the at least one processor, further cause the at least one processor to, when determining that the second state has been started, determine the transition time based on the wheel speed acquired from the second sensor.

8 . The control system according to claim 7 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to, when determining that the second state has been started, determine the transition time such that the transition time becomes shorter as the wheel speed acquired from the second sensor decreases.

9 . The control system according to claim 1 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to:

determine whether or not the first state or the second state has ended in the vehicle, and

when determining that the first state or the second state has ended, transition the control mode from the second mode to the first mode, and change a second transition time spent for transition of the control mode from the second mode to the first mode, depending on the operation state.

10 . The control system according to claim 9 , wherein

the instructions, when executed by the at least one processor, further cause the at least one processor to change the second transition time depending on the operation state such that the second transition time is shorter in the first operation state than in the second operation state.

11 . A straddle type vehicle comprising the control system according to claim 1 .

12 . A control method for controlling a damping force of a rear suspension mechanism in a straddle type vehicle including a front suspension mechanism and the rear suspension mechanism, comprising:

detecting a stroke speed of the front suspension mechanism;

determining an operation state of the straddle type vehicle; and

transitioning a control mode of the rear suspension mechanism from a first mode to a second mode, when determining that the operation state of the straddle type vehicle is a first state in which a rear wheel of the vehicle is slipping or a second state in which the vehicle is doing a wheelie,

wherein the first mode is a mode of changing the damping force of the rear suspension mechanism according to a detection result in the detecting, and the second mode is a mode of fixing the damping force of the rear suspension mechanism, and

wherein, in the transitioning, a transition time spent for transition of the control mode from the first mode to the second mode is changed depending on the operation state.

13 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute a control method according to claim 12 .