Controller and control method for adjusting cornering during cruise control of a straddle-type vehicle

1. A controller ( 60 ) for controlling travel of a straddle-type vehicle ( 100 ), the controller ( 60 ) configured to:

execute a cruise control in which acceleration/deceleration of the straddle-type vehicle ( 100 ) is automatically controlled without relying on an accelerating/decelerating operation by a driver, wherein

during the cruise control, the controller ( 60 ) restricts a vehicle speed of the straddle-type vehicle ( 100 ) to be equal to or lower than an upper limit speed at the time of turning, detects an exit of a curved road on the basis of an index value (dyTraj) corresponding to a distance between a point (P), which is away from the straddle-type vehicle ( 100 ) in an advancing direction (X) by a reference distance (D), and a predicted trajectory (R) in a direction orthogonal to the advancing direction (X), wherein the predicted trajectory (R) is detected by a front monitoring sensor ( 41 ) that detects information of an area in front of the straddle-type vehicle ( 100 ), and reduces a magnitude of the deceleration of the decelerated straddle-type vehicle ( 100 ) at a time point before the straddle-type vehicle ( 100 ) reaches the exit.

2. The controller according to claim 1 , wherein during the cruise control, at the time of turning, the controller ( 60 ) adjusts the upper limit speed according to an inertia force index that is correlated with an inertia force generated on the straddle-type vehicle ( 100 ) by turning.

3. The controller according to claim 2 , wherein during the cruise control, at the time point before the straddle-type vehicle ( 100 ) reaches the exit, the controller ( 60 ) reduces the magnitude of the deceleration of the decelerated straddle-type vehicle ( 100 ) by canceling adjustment of the upper limit speed according to the inertia force index.

4. The controller according to claim 1 , wherein during the cruise control, the controller ( 60 ) prohibits the reduction in the magnitude of the deceleration, which is performed at the time point before the straddle-type vehicle ( 100 ) reaches the exit, on the basis of a lean angle of the straddle-type vehicle ( 100 ).

5. The controller according to claim 1 , wherein the cruise control includes adaptive cruise control in which the straddle-type vehicle ( 100 ) is made to travel according to a distance from said straddle-type vehicle ( 100 ) to a preceding vehicle, motion of said straddle-type vehicle ( 100 ), and the driver's instruction.

6. A control method for controlling travel of a straddle-type vehicle ( 100 ), the control method comprising,

during cruise control in which acceleration/deceleration of the straddle-type vehicle ( 100 ) is automatically controlled, via a controller, without relying on an accelerating/decelerating operation by a driver:

restricting, via the controller, a vehicle speed of the straddle-type vehicle ( 100 ) to be equal to or lower than an upper limit speed at the time of turning;

detecting, via the controller, an exit of a curved road on the basis of an index value (dyTraj) corresponding to a distance between a point (P), which is away from the straddle-type vehicle ( 100 ) in an advancing direction (X) by a reference distance (D), and a predicted trajectory (R) in a direction orthogonal to the advancing direction (X), wherein the predicted trajectory (R) is detected by a front monitoring sensor ( 41 ) that detects information of an area in front of the straddle-type vehicle ( 100 ); and

reducing, via the controller, a magnitude of deceleration of the decelerated straddle-type vehicle ( 100 ) by a controller ( 60 ) at a time point before the straddle-type vehicle ( 100 ) reaches the exit.