Controller, control method, and brake system

1. A controller ( 60 ) controlling behavior of a motorcycle ( 100 ), the motorcycle ( 100 ) including a damping device ( 80 ) that damps kinetic energy, 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 deceleration operation, wherein

in the control mode, the automatic deceleration operation is executed in a state where a damping rate of the damping device ( 80 ) is increased to be higher than that immediately before initiation of the control mode, and

upon termination of the automatic deceleration operation, the damping rate of the damping device ( 80 ) is lowered at a lower change rate than a change rate at a time when the damping rate of the damping device ( 80 ) is increased to be higher than that immediately before the initiation of the control mode, wherein

in the case where it is determined that a driver has an avoidance intention during the automatic deceleration operation, the automatic deceleration operation is prohibited and terminated.

2. The controller according to claim 1 , wherein

the damping device ( 80 ) is a steering damper that damps rotary movement of a steering of the motorcycle ( 100 ).

3. The controller according to claim 1 , wherein

in the automatic deceleration operation in the control mode, in the case where a lean angle of the motorcycle ( 100 ) is large, the damping rate of the damping device ( 80 ) is controlled to be the higher damping rate than that when the lean angle is small.

4. The controller according to claim 3 , wherein

in the control mode, the damping rate of the damping device ( 80 ) during execution of the automatic deceleration operation is controlled in accordance with the lean angle acquired during the automatic deceleration operation.

5. The controller according to claim 1 , wherein

in the control mode, in the case where a change rate of a state amount that is related to posture of the motorcycle ( 100 ) during turning travel exceeds a change rate reference value, it is determined that the driver has the avoidance intention.

6. The controller according to claim 1 , wherein

in the control mode, in the case where an operation amount that is related to an operation of the motorcycle ( 100 ) by the driver exceeds an operation amount reference value, it is determined that the driver has the avoidance intention.

7. A control method of controlling behavior of a motorcycle ( 100 ), the motorcycle ( 100 ) including a damping device ( 80 ) that damps kinetic energy, 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 deceleration operation, wherein

in the control mode, the automatic deceleration operation is executed in a state where a damping rate of the damping device ( 80 ) is increased to be higher than that immediately before initiation of the control mode, and

upon termination of the automatic deceleration operation, the damping rate of the damping device ( 80 ) is lowered at a lower change rate than a change rate at a time when the damping rate of the damping device ( 80 ) is increased to be higher than that immediately before the initiation of the control mode, wherein

in the case where it is determined that a driver has an avoidance intention during the automatic deceleration operation, the automatic deceleration operation is prohibited and terminated.

8. The control method according to claim 7 , wherein

the damping device ( 80 ) is a steering damper that damps rotary movement of a steering of the motorcycle ( 100 ).

9. A brake system ( 10 ) comprising:

a peripheral environment sensor ( 46 ) that detects peripheral environment of a motorcycle ( 100 ), the motorcycle ( 100 ) including a damping device ( 80 ) that damps kinetic energy; and

a controller ( 60 ) that controls behavior of the motorcycle ( 100 ) on the basis of the peripheral environment, wherein

the controller ( 60 ) includes:

an acquisition section ( 61 ) that acquires trigger information generated in accordance with the peripheral environment; 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 deceleration operation, and

in the control mode, the automatic deceleration operation is executed in a state where a damping rate of the damping device ( 80 ) is increased to be higher than that immediately before initiation of the control mode, and

upon termination of the automatic deceleration operation, the damping rate of the damping device ( 80 ) is lowered at a lower change rate than a change rate at a time when the damping rate of the damping device ( 80 ) is increased to be higher than that immediately before the initiation of the control mode, wherein

in the case where it is determined that a driver has an avoidance intention during the automatic deceleration operation, the automatic deceleration operation is prohibited and terminated.

10. The brake system according to claim 9 , wherein

the damping device ( 80 ) is a steering damper that damps rotary movement of a steering of the motorcycle ( 100 ).