Controller, control method, and brake system
The invention obtains a controller and a control method capable of improving safety by an automatic braking operation while preventing a motorcycle from falling over. The invention also obtains a brake system that includes such a controller. In the controller and the control method according to the invention, a control mode that makes the motorcycle execute the automatic braking operation is initiated in response to trigger information generated in accordance with peripheral environment of the motorcycle. In the control mode, distribution of an automatic braking force to a front wheel and a rear wheel is controlled in accordance with travel posture of the motorcycle, and the automatic braking force is a braking force that is applied to the wheels of the motorcycle by the automatic braking operation.
1. A controller ( 60 ) controlling behavior of a motorcycle ( 100 ), the controller comprising:
an acquisition section ( 61 ) that acquires trigger information generated in accordance with peripheral environment of the motorcycle ( 100 ); and
an execution section ( 62 ) that initiates a control mode in response to the trigger information, the control mode making the motorcycle ( 100 ) execute an automatic braking operation, wherein
in the control mode, distribution of an automatic braking force to a front wheel ( 3 ) and a rear wheel ( 4 ) is controlled in accordance with travel posture of the motorcycle ( 100 ), the automatic braking force being a respective degree of braking force that is applied to each of the respective wheels ( 3 , 4 ) of the motorcycle ( 100 ) by the automatic braking operation according to a lean angle of the motorcycle ( 100 ).
2. The controller according to claim 1 , wherein in the control mode in which the motorcycle ( 100 ) has such travel posture that the motorcycle ( 100 ) travels straight, the automatic braking force is preferentially distributed to the rear wheel ( 4 ).
3. The controller according to claim 2 , wherein in the control mode in which the motorcycle ( 100 ) has such travel posture that the motorcycle ( 100 ) travels straight, in the case where the automatic braking force exceeds an upper limit value of the braking force distributed to the rear wheel ( 4 ), the automatic braking force is partially distributed to the front wheel ( 3 ).
4. The controller according to claim 1 , wherein in the control mode in which the motorcycle ( 100 ) has such travel posture that the motorcycle ( 100 ) turns, in the case where the lean angle of the motorcycle ( 100 ) is large, a degree of distribution priority of the automatic braking force to the rear wheel ( 4 ) is lowered in comparison to a degree of distribution priority of the automatic braking force to the rear wheel ( 4 ) in a case where the lean angle of the motorcycle ( 100 ) is small.
5. The controller according to claim 1 , wherein in the control mode in which the motorcycle ( 100 ) has such travel posture that the motorcycle ( 100 ) turns, in the case where the automatic braking operation is an automatic cruise braking operation, the automatic braking force is distributed in an allocation between the front wheel ( 3 ) and the rear wheel ( 4 ) such that the lean angle of the motorcycle ( 100 ) is maintained.
6. The controller according to claim 1 , wherein in the control mode in which the motorcycle ( 100 ) has such travel posture that the motorcycle ( 100 ) turns, in the case where the automatic braking operation is an automatic emergency braking operation, the automatic braking force is distributed in an allocation between the front wheel ( 3 ) and the back wheel ( 4 ) such the respective automatic braking force is increased as that the lean angle of the motorcycle ( 100 ) is reduced with lapse of time.
7. A control method controlling behavior of a motorcycle ( 100 ), the control method comprising:
an acquisition step (S 111 ) of acquiring trigger information that is generated in accordance with peripheral environment of the motorcycle ( 100 ); and
an execution step (S 115 ) of initiating a control mode in response to the trigger information, the control mode making the motorcycle ( 100 ) execute an automatic braking operation, wherein
in the control mode, distribution of an automatic braking force to a front wheel ( 3 ) and a rear wheel ( 4 ) is controlled in accordance with travel posture of the motorcycle ( 100 ), the automatic braking force being a respective degree of braking force that is applied to each of the respective wheels ( 3 , 4 ) of the motorcycle ( 100 ) by the automatic braking operation according to a lean angle of the motorcycle ( 100 ).
8. A brake system ( 10 ) comprising:
a peripheral environment sensor ( 46 ) that detects peripheral environment of a motorcycle ( 100 ); and
a controller ( 60 ) that controls behavior of the motorcycle ( 100 ) on the basis of the peripheral environment, wherein
the controller ( 60 ) is configured to:
acquire trigger information generated in accordance with the peripheral environment; and
initiate a control mode in response to the trigger information, the control mode making the motorcycle ( 100 ) execute an automatic braking operation, and
in the control mode, control distribution of an automatic braking force to a front wheel ( 3 ) and a rear wheel ( 4 ) in accordance with travel posture of the motorcycle ( 100 ), the automatic braking force being a respective degree of braking force that is applied to each of the respective wheels ( 3 , 4 ) of the motorcycle ( 100 ) by the automatic braking operation according to a lean angle of the motorcycle ( 100 ).