# US 11,993,240 B2 · Controller and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,240 B2 - Document ID: US11993240B2 - Status: Granted - Kind: B2 - Application number: 18/001,130 - Filed: 2021-06-11 - Published: 2023-07-06 - Granted: 2024-05-28 - Earliest claimed: 2020-06-24 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Naoto Kijima; Shunsaku Ono - Web page: https://patentgrep.com/patent/US11993240B2 ## CPC - B60T 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) - B60T 8/1706: {for single-track vehicles, e.g. motorcycles} - B60T 8/175: Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control (safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16) - B62J 45/20: Cycle computers as cycle accessories - B60T 2201/16: Curve braking control, e.g. turn control within ABS control algorithm - B60T 2220/02: Driver type; Driving style; Driver adaptive features - B60T 2230/02: Side slip angle, attitude angle, floating angle, drift angle - 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 - B62J: CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS ## Abstract The present invention obtains a controller and a control method capable of simultaneously achieving freedom of driving and safety of a lean vehicle. In a controller (60) and the control method according to the present invention, a control section of the controller (60) can execute anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of a lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent. ## Claims ### Claim 1 A controller (60) that controls behavior of a lean vehicle (100), the controller comprising: a control section (62) configured to perform an anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of the lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, wherein in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, the control section (62) implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent. ### Claim 2 (depends on 1) The controller according to claim 1, wherein when reducing the slip degree in the anti-lock braking operation, which is performed in the slide control mode, the control section (62) reduces the braking force or the drive power in a stepwise manner. ### Claim 3 (depends on 1) The controller according to claim 1, wherein in the slide control mode, prior to initiation of the anti-lock braking operation, the control section (62) reduces a positive slope of the braking force according to behavior information of the lean vehicle (100). ### Claim 4 (depends on 1) The controller according to claim 1, wherein the slip degree target is a numerical range having an upper limit value and a lower limit value, and the control section (62) changes a difference between the upper limit value and the lower limit value between time when the slide control mode is implemented and time when the slide control mode is not implemented. ### Claim 5 (depends on 1) The controller according to claim 1, wherein the control section (62) determines the presence or the absence of the slide request on the basis of driving operation information of the rider. ### Claim 6 (depends on 1) The controller according to claim 1, wherein the control section (62) determines the presence or the absence of the slide request on the basis of setting information by the rider. ### Claim 7 (depends on 1) The controller according to claim 1, wherein the control section (62) changes at least one of a control amount related to the braking force or the drive power and the slip degree target according to state information of the lean vehicle (100). ### Claim 8 A control method for behavior of a lean vehicle (100), the method comprising: performing an anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of the lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and when a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implementing a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent. ### Claim 9 (depends on 1) The controller according to claim 1, wherein in the slide control mode, prior to initiation of the anti-lock braking operation, the control section (62) changes the drive power according to behavior information of the lean vehicle (100).