Behavior controller, lean vehicle, and behavior control method

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

• an acceleration information acquisition step (S2) of acquiring acceleration information in a body up-down direction of the lean vehicle (100) on a basis of output of at least one acceleration sensor;
• a vehicle velocity information acquisition step (S3) of acquiring vehicle velocity information of the lean vehicle (100);
• and
• an angular velocity information acquisition step (S4) of acquiring angular velocity information by using the acceleration information and the vehicle velocity information,
• a vehicle behavior control step (S5) of controlling, using the first angular velocity information of the first angular velocity information acquisition section (23), the behavior of the lean vehicle (100) not on the basis of an output of an angular velocity sensor.

A behavior controller (20) for controlling behavior of a lean vehicle (100), the behavior controller (20) comprising:

• an acceleration information acquisition section (21) that acquires acceleration information in a body up-down direction of the lean vehicle (100) on a basis of output of at least one acceleration sensor;
• a vehicle velocity information acquisition section (22) that acquires vehicle velocity information of the lean vehicle (100);
• a first angular velocity information acquisition section (23) that acquires first angular velocity information by using the acceleration information and the vehicle velocity information;
• a second angular velocity information acquisition section (25) that acquires second angular velocity information on the basis of output of an angular velocity sensor (13);
• a comparison section (26) that compares the first angular velocity information with the second angular velocity information;
• and
• a notification operation execution section (27) that outputs a signal for notification by a notification device (101) in the case where, in the comparison section (26), a difference between the first angular velocity information and the second angular velocity information becomes equal to or larger than a preset value.