# US 11,305,744 B2 · Controller for braking force generated by brake system of motorcycle, and control method of the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,744 B2 - Document ID: US11305744B2 - Status: Granted - Kind: B2 - Application number: 16/323,838 - Filed: 2017-07-05 - Published: 2021-07-15 - Granted: 2022-04-19 - Earliest claimed: 2016-08-10 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Koji Suzuki; Shunsaku Ono - Web page: https://patentgrep.com/patent/US11305744B2 ## CPC - B60T 8/3225: {Systems specially adapted for single-track vehicles, e.g. motorcycles (B60T8/3235 takes precedence)} - B60T 8/1706: {for single-track vehicles, e.g. motorcycles} - B60T 8/171: Detecting parameters used in the regulation; Measuring values used in the regulation - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60T 8/176: Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS (B60T8/1755 takes precedence) - B60T 2240/00: Monitoring, detecting wheel/tyre behaviour; counteracting thereof - B60T 2250/04: Vehicle reference speed; Vehicle body speed - B60T 2270/10: ABS control systems - B62L 3/00: Brake-actuating mechanisms {(for back-pedalling brakes B62L5/00)}; Arrangements thereof - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B62L: BRAKES SPECIALLY ADAPTED FOR CYCLES {(arrangements in cycles for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions B60T8/00)} ## Abstract A controller and a control method capable of optimizing a braking force generated by a brake system are obtained. During deceleration of a motorcycle, the controller and the control method according to the invention obtain an estimated vehicle body speed Vbe of the motorcycle that is estimated on the basis of speed information of a wheel, obtain a corrected vehicle body speed Vbc that is obtained by correcting an actually-measured vehicle body speed of the motorcycle to a low-speed side, cause the brake system to generate the braking force that corresponds to the estimated vehicle body speed Vbe in a state where the estimated vehicle body speed Vbe is higher than the corrected vehicle body speed Vbc, and cause the brake system to generate the braking force that corresponds to the corrected vehicle body speed Vbc in a state where the estimated vehicle body speed Vbe is lower than the corrected vehicle body speed Vbc. ## Claims ### Claim 1 An electronic controller for a braking force generated by a brake system of a motorcycle, the electronic controller comprising: an estimated vehicle body speed obtainment section that obtains an estimated vehicle body speed of the motorcycle estimated on the basis of speed information of a wheel; a braking force control execution section that causes the brake system to generate the braking force corresponding to the estimated vehicle body speed obtained by the estimated vehicle body speed obtainment section; and a corrected vehicle body speed obtainment section that obtains a corrected vehicle body speed obtained by correcting an actually-measured vehicle body speed of the motorcycle to a low-speed side, wherein during deceleration of the motorcycle, the braking force control execution section causes the brake system to generate the braking force that corresponds to the estimated vehicle body speed in a state where the estimated vehicle body speed is higher than the corrected vehicle body speed, and causes the brake system to generate the braking force that corresponds to the corrected vehicle body speed in a state where the estimated vehicle body speed is lower than the corrected vehicle body speed. ### Claim 2 (depends on 1) The electronic controller according to claim 1, wherein the corrected vehicle body speed is corrected to the low-speed side by multiplying the actually-measured vehicle body speed, which is obtained at each time point, by a reduction coefficient. ### Claim 3 (depends on 2) The electronic controller according to claim 2, wherein the corrected vehicle body speed is corrected to the low-speed side by replacing the actually-measured vehicle body speed, which is obtained at each of the time points, with the lowest actually-measured vehicle body speed obtained in a period from initiation of the deceleration of the motorcycle to said time point. ### Claim 4 (depends on 2) The electronic controller according to claim 2, wherein the braking force control execution section causes the brake system to generate the braking force that corresponds to the estimated vehicle body speed in states where the actually-measured vehicle body speed has an increasing tendency and the estimated vehicle body speed is lower than the corrected vehicle body speed during the deceleration of the motorcycle. ### Claim 5 (depends on 4) The electronic controller according to claim 4, wherein the braking force control execution section determines that the actually-measured vehicle body speed has been shifted to the state with the increasing tendency in the case where the actually-measured vehicle body speed, which is obtained at each of the time points, continues to be in a state of not becoming the lowest actually-measured vehicle body speed obtained in the period from the initiation of the deceleration of the motorcycle to said current time point for a reference time or longer. ### Claim 6 (depends on 4) The electronic controller according to claim 4, wherein the braking force control execution section causes the brake system to generate the braking force that corresponds to the estimated vehicle body speed in a period from a time point at which the actually-measured vehicle body speed is shifted to be in the state with the increasing tendency to a time point at which the estimated vehicle body speed is shifted to a state of being equal to or higher than the corrected vehicle body speed. ### Claim 7 (depends on 1) The electronic controller according to claim 1, wherein the actually-measured vehicle body speed is obtained on the basis of speed information of a portion other than the wheel of the motorcycle. ### Claim 8 (depends on 1) The electronic controller according to claim 1, wherein the actually-measured vehicle body speed is obtained on the basis of speed information of a wheel other than the wheel of the motorcycle. ### Claim 9 (depends on 1) The electronic controller according to claim 1, wherein anti-lock brake control is executed during the deceleration of the motorcycle. ### Claim 10 A control method of a braking force generated by a brake system of a motorcycle, the control method comprising: determining, via an electronic controller, an estimated vehicle body speed of the motorcycle that is estimated on the basis of speed information of a wheel; causing, via the electronic controller, the brake system to generate the braking force that corresponds to the estimated vehicle body speed obtained in the estimated vehicle body speed obtainment step; and determining, via the electronic controller, a corrected vehicle body speed obtained by correcting an actually-measured vehicle body speed of the motorcycle to a low-speed side, wherein during deceleration of the motorcycle, the brake system generates the braking force that corresponds to the estimated vehicle body speed in a state where the estimated vehicle body speed is higher than the corrected vehicle body speed, and the brake system generates the braking force that corresponds to the corrected vehicle body speed in a state where the estimated vehicle body speed is lower than the corrected vehicle body speed.