Controller and control method
AssigneeRobert Bosch GmbH
InventorsYoshihide Igari, Yuki Oshida
Life of this patent
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Abstract
The present invention obtains a controller and a control method capable of appropriately assisting with driving by a rider. In the controller and the control method according to the present invention, an acquisition section of a controller (60) acquires lateral acceleration information of a traveling straddle-type vehicle (100), and in a control mode in which behavior control operation to make the straddle-type vehicle (100) automatically decelerate or automatically accelerate is performed, an execution section of the controller (60) changes the behavior control operation according to the lateral acceleration information.
Claims13
A system for controlling behavior of a straddle-type vehicle (100), the system comprising:
- an electronic processor configured to
- acquire trigger information during travel of the straddle-type vehicle (100),
- initiate a control mode according to the trigger information,
- in the control mode, perform a behavior control operation to make the straddle-type vehicle (100) automatically decelerate or automatically accelerate,
- acquire lateral acceleration information of the traveling straddle-type vehicle (100),
- in the control mode, change the behavior control operation according to the lateral acceleration information,
- in the control mode, in response to the lateral acceleration information exceeding a reference value during and/or at initiation of the behavior control operation, cancel the behavior control operation and continue the control mode in a state where the straddle-type vehicle does not perform the behavior control operation, and
- in the control mode, at initiation of the automatic deceleration or the automatic acceleration, change a vehicle body speed generated to the straddle-type vehicle (100), a differential value of said vehicle body speed, or a second-order differential value of said vehicle body speed according to the lateral acceleration information acquired by the electronic processor.
A control method for controlling behavior of a straddle-type vehicle (100), the control method comprising:
- acquiring trigger information during travel of the straddle-type vehicle (100);
- initiating a control mode according to the trigger information;
- in the control mode, performing a behavior control operation to make the straddle-type vehicle (100) automatically decelerate or automatically accelerate;
- acquiring lateral acceleration information of the traveling straddle-type vehicle (100);
- in the control mode, changing the behavior control operation according to the lateral acceleration information;
- in the control mode, in response to the lateral acceleration information exceeding a reference value during and/or at initiation of the behavior control operation, cancelling the behavior control operation and continue the control mode in a state where the straddle-type vehicle does not perform the behavior control operation, and
- in the control mode, at initiation of the automatic deceleration or the automatic acceleration, changing a vehicle body speed generated to the straddle-type vehicle (100), a differential value of said vehicle body speed, or a second-order differential value of said vehicle body speed according to the acquired lateral acceleration information.
Dependencies are inferred from the claim text.