Changing a braking force of a lean vehicle based on a collision possibility

A control method for controlling behavior of a lean vehicle (100), the control method comprising:

• performing, via a computer, a brake control to increase a braking force applied to the lean vehicle (100) based on a collision possibility that is determined in response to an output result from an environment sensor (44);
• and
• setting, via the computer, a distribution of braking force between the braking force applied to a front wheel (3) and the braking force applied to a rear wheel (4) in the brake control based on a maximum value of a braking force that can be generated on the front wheel and a magnitude relationship between the maximum value and a target braking force of the lean vehicle (100), wherein
• the computer, in the brake control, controls the braking force applied to the front wheel (3) and the braking force applied to the rear wheel (4) based on the distribution of braking force set by the computer;
• the computer sets the distribution of braking force based on posture information of the lean vehicle (100);
• the posture information includes pitching angle information of the lean vehicle (100);
• and
• the computer, when a pitching angle included in the pitching angle information has a negative value, sets a target ratio of the distribution of braking force whereinsuch that the braking force applied to the rear wheel (4) is increased and the target ratio of the braking force applied to the front wheel (3) is reduced as an absolute value of the pitching angle rises.

A controller (60) that controls behavior of a lean vehicle (100), the controller comprising:

• a computer configured to:
• perform a brake control to increase a braking force of the lean vehicle (100) based on a collision possibility that is determined in response to an output result from an environment sensor (44),
• receive posture information of the lean vehicle (100) from an inertial measurement unit, wherein the posture information includes pitching angle information of the lean vehicle (100),
• set a distribution of braking force between the braking force applied to a front wheel (3) and the braking force applied to a rear wheel (4) in the brake control based on the pitching angle information included in the posture information, a maximum value of a braking force that can be generated on the front wheel, and a magnitude relationship between the maximum value and a target braking force of the lean vehicle (100), and
• control the braking force applied to the front wheel (3) and the braking force applied to the rear wheel (4) based on the distribution of braking force set by the computer.